Robot Arm Forward Dynamics Simulation in LabView

[Joe19]

Hello, 

I was wondering how I can do a forward dynamics simulation using the robotics toolbox in LabView. I found on the forums how to define a serial arm, and how to do all the kinematic stuff, but there doesn't seem to be any info available anywhere on how the dynamics are to be done. Specifically, I need to know how the torque function input is to be specified into the forward dynamics block. There's one example of a robot with input torque=0, but it hasn't really helped me understand the general method much. If somebody could tell me how to get the torque function defined such that it takes the error between current and desired states and multiplies them by PD gains, it would be much appreciated.

Thanks!

[S_Kamath]

The Forward Dynamics VI takes a function reference. If you implement a function with the same connector pane as the Torque=0 example in the VI then you can wire a reference to that into the forward dynamics VI. The torque can be a function of t, current joint position and velocity.

The variant input called "data" in the forward kinematics example allows you to send in arbitrary configuration information to the torque function. Anything wired into the data input will be available at the data input to the torque VI.

[zhoudeng]

Thank you very much. I can understand that now