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nofriction

PURPOSE ^

NOFRICTION Return robot object with zero link friction

SYNOPSIS ^

function r2 = nofriction(r, varargin)

DESCRIPTION ^

NOFRICTION Return robot object with zero link friction 

    ROBOT = NOFRICTION(ROBOT)

 Return the robot object but with non-linear friction coefficients set to
 zero.  

     ROBOT = NOFRICTION(ROBOT, 'all')

 Return the robot object but with all friction coefficients set to zero.  

 Non-linear (Coulomb) friction can cause numerical problems when integrating
 the equations of motion (FDYN).

 The resulting robot object has its name string modified by prepending 'NF/'.

 See also: LINK/NOFRICTION

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %NOFRICTION Return robot object with zero link friction
0002 %
0003 %    ROBOT = NOFRICTION(ROBOT)
0004 %
0005 % Return the robot object but with non-linear friction coefficients set to
0006 % zero.
0007 %
0008 %     ROBOT = NOFRICTION(ROBOT, 'all')
0009 %
0010 % Return the robot object but with all friction coefficients set to zero.
0011 %
0012 % Non-linear (Coulomb) friction can cause numerical problems when integrating
0013 % the equations of motion (FDYN).
0014 %
0015 % The resulting robot object has its name string modified by prepending 'NF/'.
0016 %
0017 % See also: LINK/NOFRICTION
0018 
0019 % Copyright (C) 1999-2008, by Peter I. Corke
0020 %
0021 % This file is part of The Robotics Toolbox for Matlab (RTB).
0022 %
0023 % RTB is free software: you can redistribute it and/or modify
0024 % it under the terms of the GNU Lesser General Public License as published by
0025 % the Free Software Foundation, either version 3 of the License, or
0026 % (at your option) any later version.
0027 %
0028 % RTB is distributed in the hope that it will be useful,
0029 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0030 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0031 % GNU Lesser General Public License for more details.
0032 %
0033 % You should have received a copy of the GNU Leser General Public License
0034 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0035 
0036 function  r2 = nofriction(r, varargin)
0037 
0038     r2 = robot(r);
0039 
0040     for i=1:r2.n,
0041         l2{i} = nofriction(r.link{i}, varargin{:});
0042     end
0043 
0044     r2.link = l2;
0045     r2.name = ['NF/' r.name];

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