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cinertia

PURPOSE ^

CINERTIA Compute the Cartesian (operational space) manipulator inertia matrix

SYNOPSIS ^

function Mx = cinertia(robot, q)

DESCRIPTION ^

CINERTIA Compute the Cartesian (operational space) manipulator inertia matrix

    M = CINERTIA(ROBOT, Q)

 Return the n x n inertia matrix which relates Cartesian force/torque to 
 Cartesian acceleration.
 ROBOT is an n-axis robot object and describes the manipulator dynamics and 
 kinematics, and Q is an n element vector of joint state.

 See also: INERTIA, ROBOT, RNE.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %CINERTIA Compute the Cartesian (operational space) manipulator inertia matrix
0002 %
0003 %    M = CINERTIA(ROBOT, Q)
0004 %
0005 % Return the n x n inertia matrix which relates Cartesian force/torque to
0006 % Cartesian acceleration.
0007 % ROBOT is an n-axis robot object and describes the manipulator dynamics and
0008 % kinematics, and Q is an n element vector of joint state.
0009 %
0010 % See also: INERTIA, ROBOT, RNE.
0011 
0012 % MOD HISTORY
0013 %     4/99 add object support
0014 % $Log: not supported by cvs2svn $
0015 % $Revision: 1.2 $
0016 
0017 % Copyright (C) 1993-2008, by Peter I. Corke
0018 %
0019 % This file is part of The Robotics Toolbox for Matlab (RTB).
0020 %
0021 % RTB is free software: you can redistribute it and/or modify
0022 % it under the terms of the GNU Lesser General Public License as published by
0023 % the Free Software Foundation, either version 3 of the License, or
0024 % (at your option) any later version.
0025 %
0026 % RTB is distributed in the hope that it will be useful,
0027 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0028 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0029 % GNU Lesser General Public License for more details.
0030 %
0031 % You should have received a copy of the GNU Leser General Public License
0032 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0033 
0034 function Mx = cinertia(robot, q)
0035     J = jacob0(robot, q);
0036     Ji = inv(J);
0037     M = inertia(robot, q);
0038     Mx = Ji' * M * Ji;

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