Gravity Loading VI

Owning Palette: Dynamics VIs

Requires: Robotics Module

Calculates the torque that gravity applies to each joint of a robotic arm. Wire data to the joint positions input to determine the polymorphic instance to use or manually select the instance.

.m file: gravload

Gravity Loading (Point)

Use this instance to calculate values at a single point.

	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.
	gravity specifies the gravitational acceleration that acts on the robotic arm. gravity is a three-element array in which the elements specify the force of gravity in the x, y, and z directions, respectively, of the coordinate frame of the world. The default is the gravity of the arm as defined for each link using the Initialize Serial Arm VI.
	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.
	torques returns the torque from gravity that acts at each joint in joint positions.
	error out contains error information. This output provides standard error out functionality.

Gravity Loading (Trajectory)

Use this instance to calculate values at points along a trajectory.

	serial arm in is a reference to a serial robotics arm. Use the Initialize Serial Arm VI to generate this LabVIEW class object.
	joint position trajectory specifies the joint angles of the robotic arm pose at points along a trajectory where each row represents a pose at a particular time and each column represents a particular joint.
	gravity specifies the gravitational acceleration that acts on the robotic arm. gravity is a three-element array in which the elements specify the force of gravity in the x, y, and z directions, respectively, of the coordinate frame of the world. The default is the gravity of the arm as defined for each link using the Initialize Serial Arm VI.
	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.
	torque trajectory returns the torque from gravity that acts on each joint in joint position trajectory.
	error out contains error information. This output provides standard error out functionality.