NOFRICTION Return link object with zero friction LINK = NOFRICTION(LINK) LINK = NOFRICTION(LINK, 'all') Return the link object with Coulomb or all friction terms set to zero. See also: ROBOT/NOFRICTION
0001 %NOFRICTION Return link object with zero friction 0002 % 0003 % LINK = NOFRICTION(LINK) 0004 % LINK = NOFRICTION(LINK, 'all') 0005 % 0006 % Return the link object with Coulomb or all friction terms set to zero. 0007 % 0008 % See also: ROBOT/NOFRICTION 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 l2 = nofriction(l, only) 0028 0029 l2 = link(l); 0030 0031 if (nargin == 2) & strcmpi(only(1:3), 'all'), 0032 l2.B = 0; 0033 end 0034 l2.Tc = [0 0];