NoDynamics/ComputedTorqueControl/ControlLaw.scilab File Reference

Compute the generalized Torques. More...

Functions
rets	ControlLaw (type t, type q, type qdot)
	Compute the generalized Torques.

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Detailed Description

Compute the generalized Torques.

Author:

Pierre-Brice Wieber

Affiliation(s): INRIA, team BIPOP

Email(s): Pierre-Brice.Wieber@inria.fr

Description:

Modifications: $Log$ Revision 1.7 2005/07/28 01:44:06 wieber Fixed some tabulations, aka, Florence should stop using nedit.

Revision 1.6 2005/07/26 14:12:20 billet correction of a bug (missing ActiveDOF for NLEffects vector) in ControlLaw.sci

Revision 1.5 2005/07/24 23:41:58 wieber Added an online TaskFunction inversion in the case of the HRP2 robot.

Revision 1.4 2005/07/21 12:07:12 wieber Made the ComputedTorqueControl of the NoDynamics ActuationModel less Human-centric.

Revision 1.3 2005/05/04 13:13:13 billet Correction and changes for doxygen documentation

Revision 1.2 2005/05/03 11:45:10 billet Comments for doxygen documentation

Revision 1.1 2005/04/06 12:27:39 wieber Added a NoDynamics ActuationModel with a ComputedTorqueControl.

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Function Documentation

rets ControlLaw	(	type	t,
		type	q,
		type	qdot
	)

Compute the generalized Torques.

Parameters:

	t	(float) time
	q	(float vector, size = NDOF) position
	qdot	(float vector, size = NDOF) velocity

Returns:

Torques (float vector, size = NDOF) generalized Torques

HuMAnS

humans-users@inrialpes.fr

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