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Modules | Classes
+ Collaboration diagram for iDyn:

Modules

 iDynBody
 
 IDynContact
 
 RecursiveNewtonEuler
 
 iDynInv
 
 iDynTransform
 

Classes

class  iCub::iDyn::iDynLink
 
class  iCub::iDyn::iDynChain
 
class  iCub::iDyn::iDynLimb
 
class  iCub::iDyn::iCubArmDyn
 
class  iCub::iDyn::iCubArmNoTorsoDyn
 
class  iCub::iDyn::iCubTorsoDyn
 
class  iCub::iDyn::iCubLegDyn
 
class  iCub::iDyn::iCubLegDynV2
 
class  iCub::iDyn::iCubNeckInertialDyn
 
class  iCub::iDyn::iCubNeckInertialDynV2
 

Detailed Description

Classes for forward-inverse kinematics and dynamics of serial-links chains of revolute joints and iCub limbs. It is basically an extension of the iKin library, including dynamics. The library also provides a Newton-Euler based method to compute forces, moments, and joint torques, for each link and for FT sensor placed anywhere in the chain.

Note
SI units adopted: meters for lengths and radians for angles.

Dependencies

Description

iDyn is basically an extension of the iKin library, including serial-links chain dynamics. Thus, starting from Links (from iKinLink to iDynLink) the library provides classes for links, chain of links, and generic limbs. Of course, iCub limbs are included. In order to compute forces, moments, and joint torques, a Newton-Euler recursive formulation is provided: in the iDynChain class, the dynamics of the chain (ie computing forces and torques for each link given the dynamic information of each link and the joints configuration - pos, vel, acc) can be computed by means of the classical Newton-Euler algorithm. It is also possible to retrieve joint torques of iCub limbs with single FT sensor measurements: to this scope, iDynSensor must be used. Furthermore, projection of forces along the chain is supported: to this scope, iDynTransform must be used.

Tested OS

Windows

Example Instantiation of the Module

Exe

Note
Release status: this library is currently under development! Date: first draft 05/2010
Author
Serena Ivaldi, Matteo Fumagalli

Copyright (C) 2010 RobotCub Consortium CopyPolicy: Released under the terms of the GNU GPL v2.0.