2. Reference

2.1. The lwr4 model

Constants:

  • lwrmodels.lwr4.dynamics.numJointsModel

    Number of joints the model describes (int)

  • lwrmodels.lwr4.dynamics.numJointsRobot

    Number of joints the robot actually has (int)

  • lwrmodels.lwr4.dynamics.simulatedJoints

    List of joints wrt. the whole robot which are described by the model (List)

lwrmodels.lwr4.dynamics.get_coriolis_matrix(ndarray q, ndarray dq)

Compute the Coriolis-/Centrifugal Matrix

Args:

q (numpy.array): Vector of joint positions

dq (numpy.array): Vector of joint velocities

Returns:
Coriolis-/Centrifugal Matrix (2-dimensional numpy.array)
lwrmodels.lwr4.dynamics.get_friction_torque_vector(ndarray dq)

Compute the vector of torques due to friction

Args:
dq (numpy.array): Vector of joint velocities
Returns:
Vector of torques (1-dimensional numpy.array)
lwrmodels.lwr4.dynamics.get_gravity_torque_vector(ndarray q)

Compute the vector of torques due to gravity

Args:
q (numpy.array): Vector of joint positions
Returns:
Vector of torques (1-dimensional numpy.array)
lwrmodels.lwr4.dynamics.get_inertia_matrix(ndarray q)

Compute the inertia matrix for the given position

Args:
q (numpy.array): Vector of joint positions
Returns:
Inertia Matrix (2-dimensional numpy.array)
lwrmodels.lwr4.dynamics.get_torque_vector(ndarray q, ndarray dq, ndarray ddq)

Compute the vector of actuation torques required for the given motion

Args:

q (numpy.array): Vector of joint positions

dq (numpy.array): Vector of joint velocities

ddq (numpy.array): Vector of joint acceleration

Returns:
Vector of required actuation torques (1-dimensional numpy.array)

2.2. The lwr4_q1q2q4 model

Constants:

  • lwrmodels.lwr4_q1q2q4.dynamics.numJointsModel

    Number of joints the model describes (int)

  • lwrmodels.lwr4_q1q2q4.dynamics.numJointsRobot

    Number of joints the robot actually has (int)

  • lwrmodels.lwr4_q1q2q4.dynamics.simulatedJoints

    List of joints wrt. the whole robot which are described by the model (List)

lwrmodels.lwr4_q1q2q4.dynamics.get_coriolis_matrix(ndarray q, ndarray dq)

Compute the Coriolis-/Centrifugal Matrix

Args:

q (numpy.array): Vector of joint positions

dq (numpy.array): Vector of joint velocities

Returns:
Coriolis-/Centrifugal Matrix (2-dimensional numpy.array)
lwrmodels.lwr4_q1q2q4.dynamics.get_friction_torque_vector(ndarray dq)

Compute the vector of torques due to friction

Args:
dq (numpy.array): Vector of joint velocities
Returns:
Vector of torques (1-dimensional numpy.array)
lwrmodels.lwr4_q1q2q4.dynamics.get_gravity_torque_vector(ndarray q)

Compute the vector of torques due to gravity

Args:
q (numpy.array): Vector of joint positions
Returns:
Vector of torques (1-dimensional numpy.array)
lwrmodels.lwr4_q1q2q4.dynamics.get_inertia_matrix(ndarray q)

Compute the inertia matrix for the given position

Args:
q (numpy.array): Vector of joint positions
Returns:
Inertia Matrix (2-dimensional numpy.array)
lwrmodels.lwr4_q1q2q4.dynamics.get_torque_vector(ndarray q, ndarray dq, ndarray ddq)

Compute the vector of actuation torques required for the given motion

Args:

q (numpy.array): Vector of joint positions

dq (numpy.array): Vector of joint velocities

ddq (numpy.array): Vector of joint acceleration

Returns:
Vector of required actuation torques (1-dimensional numpy.array)

2.3. The lwr4_q2q4 model

Constants:

  • lwrmodels.lwr4_q2q4.dynamics.numJointsModel

    Number of joints the model describes (int)

  • lwrmodels.lwr4_q2q4.dynamics.numJointsRobot

    Number of joints the robot actually has (int)

  • lwrmodels.lwr4_q2q4.dynamics.simulatedJoints

    List of joints wrt. the whole robot which are described by the model (List)

lwrmodels.lwr4_q2q4.dynamics.get_coriolis_matrix(ndarray q, ndarray dq)

Compute the Coriolis-/Centrifugal Matrix

Args:

q (numpy.array): Vector of joint positions

dq (numpy.array): Vector of joint velocities

Returns:
Coriolis-/Centrifugal Matrix (2-dimensional numpy.array)
lwrmodels.lwr4_q2q4.dynamics.get_friction_torque_vector(ndarray dq)

Compute the vector of torques due to friction

Args:
dq (numpy.array): Vector of joint velocities
Returns:
Vector of torques (1-dimensional numpy.array)
lwrmodels.lwr4_q2q4.dynamics.get_gravity_torque_vector(ndarray q)

Compute the vector of torques due to gravity

Args:
q (numpy.array): Vector of joint positions
Returns:
Vector of torques (1-dimensional numpy.array)
lwrmodels.lwr4_q2q4.dynamics.get_inertia_matrix(ndarray q)

Compute the inertia matrix for the given position

Args:
q (numpy.array): Vector of joint positions
Returns:
Inertia Matrix (2-dimensional numpy.array)
lwrmodels.lwr4_q2q4.dynamics.get_torque_vector(ndarray q, ndarray dq, ndarray ddq)

Compute the vector of actuation torques required for the given motion

Args:

q (numpy.array): Vector of joint positions

dq (numpy.array): Vector of joint velocities

ddq (numpy.array): Vector of joint acceleration

Returns:
Vector of required actuation torques (1-dimensional numpy.array)

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