%ACCEL?Compute?manipulator?forward?dynamics
%
%	QDD?=?ACCEL（ROBOT?Q?QD?TORQUE）
%	QDD?=?ACCEL（ROBOT?[Q?QD?TORQUE]）
%
%?Returns?a?vector?of?joint?accelerations?that?result?from?applying?the?
%?actuator?TORQUE?to?the?manipulator?ROBOT?in?state?Q?and?QD.
%
%?Uses?the?method?1?of?Walker?and?Orin?to?compute?the?forward?dynamics.
%?This?form?is?useful?for?simulation?of?manipulator?dynamics?in
%?conjunction?with?a?numerical?integration?function.
%
%?See?also:?RNE?ROBOT?ODE45.

%?MOD?HISTORY
%?4/99?add?object?support
%?1/02?copy?rne?code?from?inertia.m?to?here?for?speed
%?$Log:?not?supported?by?cvs2svn?$
%?$Revision:?1.3?$

%?Copyright?（C）?1999-2008?by?Peter?I.?Corke
%
%?This?file?is?part?of?The?Robotics?Toolbox?for?Matlab?（RTB）.
%?
%?RTB?is?free?software:?you?can?redistribute?it?and/or?mod

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2009-02-15?08:11??robot\
?????文件????????3961??2009-02-15?08:07??robot\Contents.m
?????文件????????1071??2009-02-15?08:07??robot\Fanuc10L.m
?????文件????????1123??2009-02-15?08:07??robot\MotomanHP6.m
?????文件????????1137??2009-02-15?08:07??robot\S4ABB2p8.m
?????文件????????1989??2009-02-15?08:07??robot\accel.m
?????文件????????1273??2009-02-15?08:07??robot\angvec2r.m
?????文件????????1057??2009-02-15?08:07??robot\angvec2tr.m
?????文件????????1334??2009-02-15?08:07??robot\cinertia.m
?????文件????????1572??2009-02-15?08:07??robot\coriolis.m
?????文件????????1586??2009-02-15?08:07??robot\ctraj.m
?????文件????????1107??2009-02-15?08:07??robot\diff2tr.m
?????文件????????9339??2009-02-15?08:07??robot\drivebot.m
?????文件????????1427??2009-02-15?08:07??robot\eul2r.m
?????文件????????1415??2009-02-15?08:07??robot\eul2tr.m
?????文件????????2212??2009-02-15?08:07??robot\fdyn.m
?????文件????????1570??2009-02-15?08:07??robot\fdyn2.m
?????文件????????2114??2009-02-15?08:07??robot\fkine.m
?????文件????????1092??2009-02-15?08:07??robot\ftrans.m
?????文件????????1612??2009-02-15?08:07??robot\gravload.m
?????文件????????3873??2009-02-15?08:07??robot\ikine.m
?????文件????????5176??2009-02-15?08:07??robot\ikine560.m
?????文件????????1285??2009-02-15?08:07??robot\inertia.m
?????文件?????????979??2009-02-15?08:07??robot\ishomog.m
?????文件?????????969??2009-02-15?08:07??robot\isrot.m
?????文件????????1019??2009-02-15?08:07??robot\isvec.m
?????文件????????1471??2009-02-15?08:07??robot\itorque.m
?????文件????????1434??2009-02-15?08:07??robot\jacob0.m
?????文件????????1914??2009-02-15?08:07??robot\jacobn.m
?????文件????????2493??2009-02-15?08:07??robot\jtraj.m
?????文件????????2517??2009-02-15?08:07??robot\maniplty.m
............此處省略310個文件信息