Calculate Joint Accelerations VI

Owning Palette: Dynamics VIs

Requires: Robotics Module

Calculates the joint accelerations that result from applying torques to a robotic arm.

.m file: accel

	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.
	torques specifies the amount of force to apply to 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.
	joint accelerations contains the acceleration of each joint that results from applying the corresponding element of torques to the joint.
	error out contains error information. This output provides standard error out functionality.