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Changes in Dynamics and puma_fdyn #336

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Changes in Dynamics and puma_fdyn #336

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5bbedc6
tool.trajectory.qp is not working anymore. Changed for tools.xplot
Betancourt20 Sep 14, 2022
8201799
prindyn() is not working.
Betancourt20 Sep 14, 2022
7995a0b
jacob_dot >> jacob0_dot in Coriolis_x
Betancourt20 Sep 14, 2022
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4 changes: 2 additions & 2 deletions roboticstoolbox/examples/puma_fdyn.py
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Expand Up @@ -7,13 +7,13 @@
p560 = p560.nofriction()

# print the kinematic & dynamic parameters
p560.printdyn()
# p560.printdyn() not working

# simulate motion over 5s with zero torque input
d = p560.fdyn(5, p560.qr, dt=0.05)

# show the joint angle trajectory
rtb.tools.trajectory.qplot(d.q)
rtb.tools.xplot(d.q)

# animate it
p560.plot(d.q) # movie='falling_puma.gif')
6 changes: 3 additions & 3 deletions roboticstoolbox/robot/Dynamics.py
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Expand Up @@ -1036,7 +1036,7 @@ def coriolis_x(
if Mx is None:
Mx = self.inertia_x(q[0, :], Ji=Ji)
if Jd is None:
Jd = self.jacob_dot(q[0, :], qd[0, :], J0=Ja)
Jd = self.jacob0_dot(q[0, :], qd[0, :], J0=Ja)
return Ji.T @ (C - Mx @ Jd) @ Ji
else:
# trajectory case
Expand All @@ -1053,7 +1053,7 @@ def coriolis_x(

C = self.coriolis(qk, qdk)
Mx = self.inertia_x(qk, Ji=Ji)
Jd = self.jacob_dot(qk, qdk, J0=J)
Jd = self.jacob0_dot(qk, qdk, J0=J)

Ct[k, :, :] = Ji.T @ (C - Mx @ Jd) @ Ji

Expand Down Expand Up @@ -1262,7 +1262,7 @@ def accel_x(

# need Jacobian dot
qdk = Ji @ xdk
Jd = self.jacob_dot(qk, qdk, J0=J)
Jd = self.jacob0_dot(qk, qdk, J0=J)

xdd[k, :] = T @ (Jd @ qdk + J @ qdd)

Expand Down