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friction

PURPOSE ^

FRICTION Compute friction torque for a ROBOT object

SYNOPSIS ^

function tau = friction(robot, qd)

DESCRIPTION ^

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

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

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

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