ROBOOP::Computed_torque_method Class Reference#include <controller.h>
List of all members.
Detailed Description
Computer torque method controller class.
The dynamic model of a robot manipulator can be expressed in joint space as
The driving torques can be expressed as
where , are diagonal positive definie matrix.
Definition at line 215 of file controller.h.
Constructor & Destructor Documentation
ROBOOP::Computed_torque_method::Computed_torque_method |
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const short |
dof = 1 |
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Member Function Documentation
short ROBOOP::Computed_torque_method::set_Kd |
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const DiagonalMatrix & |
Kd_ |
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short ROBOOP::Computed_torque_method::set_Kp |
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const DiagonalMatrix & |
Kp_ |
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Member Data Documentation
The documentation for this class was generated from the following files:
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