MATLAB File Help: HebiKinematics/getGravCompEfforts |

HebiKinematics/getGravCompEfforts

getGravCompEfforts calculates joint efforts that compensate for gravity. This method computes the efforts that are required to cancel out the forces on an arm caused by gravity 'Positions' argument expects a [1 x numDoF] vector of positions of all degrees of freedom. 'GravityVector' argument expects an [3 x 1] vector of the direction of gravity in the base frame. Note that this direction vector is not required to be unit length, and gravitational acceleration is assumed to be 9.81 m/s^2. Example % Compensate gravity at current position fbk = group.getNextFeedback(); gravity = [0 0 -1]; efforts = kin.getGravCompEfforts(fbk.position, gravity);

Method Details

Access | public |

Sealed | false |

Static | false |