FRICTION Compute friction torque for a ROBOT object TAU = FRICTION(ROBOT, QD) Return the vector of joint friction torques for the specified ROBOT object with link velocities of QD. SEE ALSO: LINK/FRICTION
0001 %FRICTION Compute friction torque for a ROBOT object 0002 % 0003 % TAU = FRICTION(ROBOT, QD) 0004 % 0005 % Return the vector of joint friction torques for the specified 0006 % ROBOT object with link velocities of QD. 0007 % 0008 % SEE ALSO: LINK/FRICTION 0009 0010 % Copyright (C) 1999-2008, by Peter I. Corke 0011 % 0012 % This file is part of The Robotics Toolbox for Matlab (RTB). 0013 % 0014 % RTB is free software: you can redistribute it and/or modify 0015 % it under the terms of the GNU Lesser General Public License as published by 0016 % the Free Software Foundation, either version 3 of the License, or 0017 % (at your option) any later version. 0018 % 0019 % RTB is distributed in the hope that it will be useful, 0020 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0021 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0022 % GNU Lesser General Public License for more details. 0023 % 0024 % You should have received a copy of the GNU Leser General Public License 0025 % along with RTB. If not, see <http://www.gnu.org/licenses/>. 0026 0027 function tau = friction(robot, qd) 0028 0029 L = robot.link; 0030 0031 for i=1:robot.n, 0032 tau(i) = friction(L{i}, qd(i)); 0033 end 0034