Owning Palette: Dynamics VIs
Requires: Robotics Module
Computes the joint angles and movements of a robot arm that result from applying a given amount of torque to the arm over a period of time.
.m file: fdyn
This VI uses the ODE Solver main instance of the ODE Solver VI to calculate forward dynamics for the robotic arm.
|data contains arbitrary values that pass to the VI that implements the function.|
|torque function is a strictly typed reference to the VI that implements the torque function. Create this VI by starting from the VI template located in labview\vi.lib\robotics\Kinematics\dyn\torque_function.vit.|
|serial arm in is a reference to a serial robotic arm. Use the Serial Arm Definition VIs to generate this LabVIEW class object.|
|integration data defines the initial configuration of the robot.
|error in describes error conditions that occur before this node runs. This input provides standard error in functionality.|
|simulation parameters specifies the set of parameters used to compute the forward dynamics solution.
|serial arm out is a reference to a serial robotic arm. You can wire this output to other Robotic Arm VIs.|
|joint position trajectory contains the calculated joint angles of the robotic arm pose where each row represents a pose at a particular time and each column represents a particular joint.|
|joint velocity trajectory contains the calculated velocity of each joint in joint position trajectory.|
|error out contains error information. This output provides standard error out functionality.|
|times is the array of points in time at which the differential equation solver stepped or was evaluated. If you select a fixed step-size solver, then times contains evenly spaced values.|
Refer to the Robot Arm Examples.lvproj in the labview\examples\robotics\Robotic Arm directory for an example of using the Forward Dynamics VI.