递归牛顿欧拉法Recursive Newton-Euler Algorithm(RNEA)是计算逆动力学的主要算法。逆动力学就是已知加速度,求关节力矩 τ=ID(model,q,q˙,q¨,fE) 其中τ是关节力变量,model是多刚体系统,q,q˙,q¨是关节位置,速度和加速度变量,fE是外力 RNEA分为两部分,第一部分是从父节点到子节点进行延伸,求出速度信息...
3) Newton-Euler algorithm 牛顿-欧拉算法4) Newtonian algorithm 牛顿迭代算法 1. A Newtonian algorithm based on sensitivity analysis is proposed in the paper to solve the fixed point problem of the combinative transportation system. 针对复合交通系统的特点,采用了求解固定点问题的分析思想,提出了利用...
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algo