gravload(3)

NAME
gravload, gravloadVar -- RCI routines to compute robot gravity loading.

USAGE
gravload (l, j6, kyn)
   float *l;
   floar *j6;
   KYN *kyn;

gravloadVar (l, var, kyn)
   float *l;
   void *var;
   KYN *kyn;

ARGUMENTS

l --
    Returned gravity loading values at each joint (Newton-meters or Newtons).

j6 --
    Robot joint values (radians or millimeters).

kyn --
    Robot's KYN structure (see below).

var --
    Robot's VAR structure containing precomputed parameters which depend on the joint position (see below).

DESCRIPTION
gravload() computes the gravity loading at each joint for a particular position of the robot. The KYN structure contains robot kinematic and dynamic constants. For full details on the KYN structure and how to obtain it, see the manual page KYN(3).

gravloadVar() also computes the gravity loadings, only the robot position information is obtained from the robot's VAR structure instead of from an explicit set of joint angles. The VAR contains terms, such as sines and cosines, which are precomputed and therefore do not have to be computed again. For full details on the VAR structure and how to obtain it, see the manual page VAR(3).

The VAR structure passed to gravloadVar() must be updated for the current joint position, which can be done using the routine updateVar() (q.v.).

SEE ALSO
KYN(3), VAR(3), fwdJacobVar(3), updateVar(3).