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Coriolis Torque VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Dynamics VIs

Requires: Robotics Module

Calculates the joint torques that result from the Coriolis and centripetal forces on the joints of a robotic arm. Wire data to the joint positions input to determine the polymorphic instance to use or manually select the instance.

.m file: coriolis

Use the pull-down menu to select an instance of this VI.

Coriolis Torque (Point)

Use this instance to calculate values at a single point.

serial arm in is a reference to a serial robotics arm. Use the Initialize Serial Arm VI to generate this LabVIEW class object.
joint positions specifies the joint angles that make up the robotic arm pose for which you want to calculate the solution.
joint velocities specifies the velocity of each joint in joint positions.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
serial arm out is a reference to a serial robotic arm. You can wire this output to other Robotic Arm VIs.
torques contains the torque vectors that result at each joint in joint positions.
error out contains error information. This output provides standard error out functionality.

Coriolis Torque (Trajectory)

Use this instance to calculate values at points along a trajectory.

serial arm in is a reference to a serial robotics arm. Use the Initialize Serial Arm VI to generate this LabVIEW class object.
joint position trajectory specifies the joint angles of the robotic arm pose at points along a trajectory where each row represents a pose at a particular time and each column represents a particular joint.
joint velocity trajectory specifies the velocity of each joint in joint position trajectory.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
serial arm out is a reference to a serial robotic arm. You can wire this output to other Robotic Arm VIs.
torque trajectory contains the torque vectors at each element of joint position trajectory.
error out contains error information. This output provides standard error out functionality.

 

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