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
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];