Considering one 6-dof robotic arm. I need to impose
inverse dynamics " torque_{6x1} = M(q) qdd + C(q) qd + G(q) " and
forward kinematics" T_{4x4} = fkine(q) " and
" V_{6x1}=Jacob(q) dq "and " A_{6x1}=Jacob(q)*qdd + Jacob_d(q) *qd " and
"F_{6x1} = newton_euler_twist_form_equation_for_one_rigid_body( R_{3x3}_extract_from_T , V,A )"as equality constraints.
Then impose inequality on every joint torque " tau_min_{6x1}<= torque_{6x1} <= tau_max_{6x1}".
and the coupled constraints between F_{6x1} " F_{linear_z}>=0" and " u*F_{linear_z} * F_{linear_z} >= F_{linear_x} * F_{linear_x} + F_{linear_y} * F_{linear_y} "
does yop support this sort of constraints ? i.e. function that return vector and matrix equality.
Considering one 6-dof robotic arm. I need to impose
inverse dynamics " torque_{6x1} = M(q) qdd + C(q) qd + G(q) " and
forward kinematics" T_{4x4} = fkine(q) " and
" V_{6x1}=Jacob(q) dq "and " A_{6x1}=Jacob(q)*qdd + Jacob_d(q) *qd " and
"F_{6x1} = newton_euler_twist_form_equation_for_one_rigid_body( R_{3x3}_extract_from_T , V,A )"as equality constraints.
Then impose inequality on every joint torque " tau_min_{6x1}<= torque_{6x1} <= tau_max_{6x1}".
and the coupled constraints between F_{6x1} " F_{linear_z}>=0" and " u*F_{linear_z} * F_{linear_z} >= F_{linear_x} * F_{linear_x} + F_{linear_y} * F_{linear_y} "
does yop support this sort of constraints ? i.e. function that return vector and matrix equality.