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ROBOOP::Computed_torque_method Class Reference#include <controller.h>
Detailed DescriptionComputer 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 Definition at line 213 of file controller.h.
Constructor & Destructor Documentation
Member Function Documentation
Output torque.
Definition at line 635 of file controller.cpp. Referenced by ROBOOP::Dynamics::xdot().
Assign the velocity error gain matrix
Definition at line 660 of file controller.cpp. Referenced by Computed_torque_method(), and ROBOOP::Control_Select::set_control().
Assign the position error gain matrix
Definition at line 677 of file controller.cpp. Referenced by Computed_torque_method(), and ROBOOP::Control_Select::set_control().
Member Data Documentation
Degree of freedom.
Definition at line 226 of file controller.h. Referenced by Computed_torque_method(), operator=(), set_Kd(), set_Kp(), and torque_cmd(). Robot joints positions.
Definition at line 227 of file controller.h. Referenced by Computed_torque_method(), operator=(), and torque_cmd(). Robot joints velocity.
Definition at line 227 of file controller.h. Referenced by Computed_torque_method(), operator=(), and torque_cmd(). Robot joints acceleration.
Definition at line 227 of file controller.h. Referenced by Computed_torque_method(), operator=(), and torque_cmd().
Definition at line 227 of file controller.h. Referenced by Computed_torque_method(), operator=(), and torque_cmd(). Position error gain.
Definition at line 231 of file controller.h. Referenced by Computed_torque_method(), operator=(), set_Kp(), and torque_cmd(). Velocity error gain.
Definition at line 231 of file controller.h. Referenced by Computed_torque_method(), operator=(), set_Kd(), and torque_cmd().
The documentation for this class was generated from the following files: |
ROBOOP v1.21a |
Generated Thu Nov 22 00:51:35 2007 by Doxygen 1.5.4 |