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 robotics arm. Use the Initialize Serial Arm VI 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 stepsize 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.