%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
%?$Log:?accel.mv?$
%?Revision?1.3??2002/04/01?11:47:10??pic
%?General?cleanup?of?code:?help?comments?see?also?copyright?remnant?dh/dyn
%?references?clarification?of?functions.
%
%?$Revision:?1.3?$

%?Copyright?（C）?1999-2002?by?Peter?I.?Corke

function?qdd?=?accel（robot?Q?qd?torque）
	n?=?robot.n;

	if?nargin?==?2
	????????q?=?Q（1:n）;
		qd?=?Q（n+1:2*n）;
		torque?=?Q（2*n+1:3*n）;
	else
		q?=?Q;
		if?length（q）?==?robot.n
			q?=?q（:）;
			qd?=?qd（:）;
		end
	end

	%?compute?current?manipulator?inertia
	%???torques?resulting?from?unit?acceleration?of?each?joint?with
	%???no?gravity.
	M?=?rne（robot?ones（n1）*q‘?zeros（nn）?eye（n）?[0;0;0]）;

	%?compute?gravity?and?coriolis?torque
	%????torques?resulting?from?zero?acceleration?at?given?velocity?&
	%????with?gravity?acting.
	tau?=?rne（robot?q‘?qd‘?zeros（1n））;	

	qdd?=?inv（M）?*?（torque（:）?-?tau‘）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????15364??2007-01-07?22:27??robot\.DS_Store

?????文件???????1440??2002-04-01?21:47??robot\accel.m

?????文件????????789??2002-04-01?21:47??robot\cinertia.m

?????文件???????3099??2002-05-27?09:01??robot\Contents.m

?????文件????????948??2002-04-01?21:47??robot\coriolis.m

?????文件???????1307??2002-04-14?20:11??robot\ctraj.m

?????文件???????1347??2002-05-27?09:02??robot\demos.m

?????文件???????1064??2002-04-01?21:47??robot\dh.m

?????文件????????615??2002-04-01?21:47??robot\diff2tr.m

?????文件???????7077??2008-04-02?11:07??robot\drivebot.asv

?????文件???????7035??2008-04-02?11:09??robot\drivebot.m

?????文件???????1428??2002-04-01?21:47??robot\drivepar.m

?????文件???????1452??2002-04-01?21:47??robot\dyn.m

?????文件????????862??2002-04-14?20:12??robot\eul2tr.m

?????文件???????1917??2002-04-14?20:14??robot\fdyn.m

?????文件???????1247??2002-04-14?20:14??robot\fdyn2.m

?????文件???????1763??2002-04-14?20:14??robot\fkine.m

?????文件????????665??2002-04-14?20:15??robot\ftrans.m

?????文件???????1121??2002-04-01?21:47??robot\gravload.m

?????文件???????3667??2002-04-14?20:15??robot\ikine.m

?????文件???????4852??2002-04-14?20:16??robot\ikine560.m

?????文件????????881??2002-04-01?21:47??robot\inertia.m

?????文件????????619??2002-05-27?09:02??robot\info.xml

?????文件????????482??2002-04-01?21:47??robot\ishomog.m

?????文件???????1042??2002-04-14?20:17??robot\itorque.m

?????文件????????978??2002-04-01?21:47??robot\jacob0.m

?????文件???????1490??2002-04-01?21:47??robot\jacobn.m

?????文件???????2033??2002-04-01?21:47??robot\jtraj.m

?????文件???????2161??2002-04-01?21:47??robot\maniplty.m

?????文件????????408??2002-04-01?21:47??robot\numcols.m

............此處省略135個文件信息