Joint Manipulator Inertia VI

Owning Palette: Dynamics VIs

Requires: Robotics Module

Calculates a matrix that represents the kinetic energy of the end effector of a robotic arm in joint space. Wire data to the joint positions input to determine the polymorphic instance to use or manually select the instance.

.m file: inertia

Joint Manipulator Inertia (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.
	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.
	inertia matrix contains the torque that results from inertia at each joint in joint positions.
	error out contains error information. This output provides standard error out functionality.

Joint Manipulator Inertia (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.
	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.
	inertia matrix trajectory contains the torques that result from inertia at each joint in joint position trajectory.
	error out contains error information. This output provides standard error out functionality.