Inverse_Dynamic_Ser​ial_Link

All Revolute Joint Robot Inverse Dynamic

Main File: demo_Dynamic_RJ.mlx

Model Data: Model_CRB15000_Fake.xlsx

Model Data is Fake

Core Function:

Calculate 3 dirction force and torque at each frame:

[F_rot,F_fix,trq] = ...
    InvDyn_RJ(T,dag,ddag,rotdirc,mass,cog,inertia,f_ext,n_ext)

Seperate force and torque to 4 parts:

[F_rot_a,F_rot_v,F_rot_g,F_rot_e,...
          F_fix_a,F_fix_v,F_fix_g,F_fix_e] = ...
    InvDyn_RJ_Part(T,dag,ddag,rotdirc,mass,cog,inertia,f_ext,n_ext)