清空筛选条件
清空筛选条件

What does the externalForce matrix Fext represent

3 次查看（过去 30 天）
Rachid Ramadan
Rachid Ramadan 2020-11-3
移动：Remo Pillat 2024-7-23，1:52
I would like to know what the entries of the Nx6 external force matrix (Fext) exactly mean.
I know that Fext represents the Torques/Forces applied to the EEF by an external wrench.
But how would I compute Fext from the wrench on paper?
Thank you for your help!
  1 个评论
Asvin Kumar
Asvin Kumar 2021-3-18
编辑：Asvin Kumar 2021-3-18
What paper are you talking about? What is Fext? What is EEF?
What have you tried so far? Are you running into any errors?
I'm just asking clarifying questions so that the community can help you better. Your question provides too few details at the moment.

请先登录，再进行评论。

请先登录，再回答此问题。

回答（1 个）

Karsh Tharyani
Karsh Tharyani 2021-3-25
移动：Remo Pillat 2024-7-23，1:52
I think you are referring to externalForce's output "fext".
"N" in the N-by-6 is the degrees of freedom of your robot (it is the number of non-fixed joints in "rigidBodyTree" the way it is currently modelled). You can typically associate each row with a corresponding body in the "rigidBodyTree" and the 6 element row vector as the external wrench acting on the body.
Can you state which paper are you referring to?

类别

在 Help Center 和 File Exchange 中查找有关 Robotics 的更多信息

标签

产品

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by