Home > @link > friction.m

friction

PURPOSE ^

FRICTION Compute friction torque on the LINK object

SYNOPSIS ^

function tau = friction(l, qd)

DESCRIPTION ^

FRICTION Compute friction torque on the LINK object

    TAU = FRICTION(LINK, QD)

 Return the friction torque on the link moving at speed QD.  Depending
 on fields in the LINK object viscous and/or Coulomb friction
 are computed.

 SEE ALSO: ROBOT/FRICTION

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %FRICTION Compute friction torque on the LINK object
0002 %
0003 %    TAU = FRICTION(LINK, QD)
0004 %
0005 % Return the friction torque on the link moving at speed QD.  Depending
0006 % on fields in the LINK object viscous and/or Coulomb friction
0007 % are computed.
0008 %
0009 % SEE ALSO: ROBOT/FRICTION
0010 
0011 % Copyright (C) 1999-2008, by Peter I. Corke
0012 %
0013 % This file is part of The Robotics Toolbox for Matlab (RTB).
0014 %
0015 % RTB is free software: you can redistribute it and/or modify
0016 % it under the terms of the GNU Lesser General Public License as published by
0017 % the Free Software Foundation, either version 3 of the License, or
0018 % (at your option) any later version.
0019 %
0020 % RTB is distributed in the hope that it will be useful,
0021 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0022 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0023 % GNU Lesser General Public License for more details.
0024 %
0025 % You should have received a copy of the GNU Leser General Public License
0026 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0027 
0028 function  tau = friction(l, qd)
0029     tau = 0.0;
0030 
0031     qd = qd(:);
0032     tau = l.B * qd;
0033 
0034     tau = tau + (qd > 0) * l.Tc(1) + (qd < 0) * l.Tc(2);

Generated on Sun 15-Feb-2009 18:09:29 by m2html © 2003