www.pudn.com > RobotToolbox.rar > itorque.m

%ITORQUE Compute the manipulator inertia torque
%
%	TAUI = ITORQUE(ROBOT, Q, QDD)
%
% Returns the n-element inertia torque vector at the specified pose and 
% acceleration, that is,
% 	TAUI = INERTIA(Q)*QDD
%
% ROBOT describes the manipulator dynamics and kinematics.
% If Q and QDD are row vectors, the result is a row vector of joint torques.
% If Q and QDD are matrices, each row is interpretted as a joint state 
% vector, and the result is a matrix each row being the corresponding joint 
% torques.
% 
% If ROBOT contains non-zero motor inertia then this will included in the
% result.
%
% See also: RNE, CORIOLIS, INERTIA, GRAVLOAD.


% $Log: itorque.m,v $
% Revision 1.3  2002/04/14 10:17:08  pic
% Update comments.
%
% Revision 1.2  2002/04/01 11:47:14  pic
% General cleanup of code: help comments, see also, copyright, remnant dh/dyn
% references, clarification of functions.
%
% $Revision: 1.3 $
% Copyright (C) 1993-2002, by Peter I. Corke

function it = itorque(robot, q, qdd)
	it = rne(robot, q, zeros(size(q)), qdd, [0;0;0]);