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This page explains and clarify the various variables used to denote joint forces/torques
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| | Qq | Qc | Qa
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| | Qq | Qc | Qa [^2]
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|---------------|--------------------------------------|------------------------------------|------------------------------|
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| Dirdyn | Input, coming from user_jointForces | Output, resulting of driven joints | Not used |
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| Dirdyn – smlk | Input, coming from user_jointForces | | Coming from block input port |
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| Dirdyn – smlk | Input, coming from user_jointForces [^1] | | Coming from block input port |
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| Invdyn | Input, coming from user_jointForces | | |
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| Equil | | | |
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| Casadi | | | | |
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| Equil | Input, coming from user_jointForces | | Can be used to find a force/torqu in steady staate equil |
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| Casadi | Symbolic/numeric constitutive law in joints (user_jointForces) | Not used | Used by module to put control input |
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[^2]: Qa vector is defined via MBsysPad by checking the _actuated_ box or via the `set_qa` function of `MbsData`.
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[^1]: the size of the expected signal on the block port will be equal the number of actuated joint set via the corresponding check box in MBsysPad. |
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