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ftrans

PURPOSE ^

FTRANS Transform force/moment

SYNOPSIS ^

function Ft = ftrans(T, F)

DESCRIPTION ^

FTRANS Transform force/moment

    FT = FTRANS(T, F)

 Transforms a force/moment F in the base frame to FT in the frame T.
 F and FT are 6-vectors of the form [Fx Fy Fz Mx My Mz]

 SEE ALSO: DIFF2TR

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %FTRANS Transform force/moment
0002 %
0003 %    FT = FTRANS(T, F)
0004 %
0005 % Transforms a force/moment F in the base frame to FT in the frame T.
0006 % F and FT are 6-vectors of the form [Fx Fy Fz Mx My Mz]
0007 %
0008 % SEE ALSO: DIFF2TR
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 Ft = ftrans(T, F)
0028 
0029     f = F(1:3); m = F(4:6);
0030     k = cross(f, transl(T) ) + m;
0031 
0032     mt = rot(T)' * k;
0033     ft = rot(T)' * F(1:3);
0034 
0035     Ft = [ft; mt];

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