Robot Dynamics

Robot model dynamics. More...

Classes
struct	fsb::ForceVector
	Force and torque vector. More...
struct	fsb::BodyForce
	Container of Forces and Torques for a list of bodies. More...

Functions
JointSpace	fsb::inverse_dynamics (const BodyTree &body_tree, const BodyCartesianPva &cartesian_motion, const BodyForce &external_force, BodyForce &body_force)
	Inverse dynamics to find joint torques based on external forces and motion of bodies.

Detailed Description

Robot model dynamics.

Function Documentation

inverse_dynamics()

JointSpace fsb::inverse_dynamics	(	const BodyTree &	body_tree,
		const BodyCartesianPva &	cartesian_motion,
		const BodyForce &	external_force,
		BodyForce &	body_force
	)

Inverse dynamics to find joint torques based on external forces and motion of bodies.

Parameters

body_tree	Body tree
cartesian_motion	Cartesian motion of bodies
external_force	External forces applied to bodies
body_force	Forces and torque applied to bodies acting at each joint

Returns

Joint torque vector resulting from dynamics