mbs_Rred.c File Reference

#include "mbs_errors_names.h"
#include "MBSfun.h"
#include "math.h"
#include "nrfct.h"
#include "mbs_project_interface.h"
#include "mbs_trigo.h"
#include "mbs_message.h"

Functions
int	mbs_Rred (MbsAux *mbs_aux, MbsData *s)
	compute Rred, the reduced equations of motions on a residual form [nqu x 1] obtained after the 2 consecutive reductions (Robotran Basics). More...
int	mbs_Rred_core (MbsAux *mbs_aux, MbsData *s)
	Compute the residual force on independant joints and required force in driven joints. More...

Function Documentation

mbs_Rred()

int mbs_Rred	(	MbsAux *	mbs_aux,
		MbsData *	s
	)

compute Rred, the reduced equations of motions on a residual form [nqu x 1] obtained after the 2 consecutive reductions (Robotran Basics).

necessary for

• equilibrium (even with non zero acceleration)
• linearization of MBS: obtention of Gr Kr around a given configuration (*) [not necessarely an equilibrium]

Parameters

[in,out]	mbs_aux	the local computation structure, where the result Rred is stored.
[in,out]	s	the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.

Returns

Error status, <0 in case of failure.

mbs_Rred_core()

int mbs_Rred_core	(	MbsAux *	mbs_aux,
		MbsData *	s
	)

Compute the residual force on independant joints and required force in driven joints.

This function is the computationnal core of Rred and Invdynared computations. This function assumes that all independent joints and all driven joints are up-to-date (coordinates, velocities and accelerations).

Parameters

[in,out]	mbs_aux	the local computation structure, where the result Rred and Qc are stored.
[in,out]	s	the MbsData of the system, where q[qv], qd[qv], qdd[qv] and Qc are updated.

Returns

Error status, <0 in case of failure.