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gravload

PURPOSE ^

GRAVLOAD Compute the gravity loading on manipulator joints

SYNOPSIS ^

function tg = gravload(robot, q, grav)

DESCRIPTION ^

GRAVLOAD Compute the gravity loading on manipulator joints

    TAUG = GRAVLOAD(ROBOT, Q)
    TAUG = GRAVLOAD(ROBOT, Q, GRAV)

 Compute the joint gravity loading for the manipulator ROBOT in the
 configuration Q.

 If Q is a row vector, the result is a row vector of joint torques.
 If Q is a matrix, each row is interpretted as a joint state vector, and
 the result is a matrix each row being the corresponding joint torques.

 Gravity vector can be given explicitly using the GRAV argument, otherwise
 it defaults to the value of the ROBOT object.

 See also: ROBOT, RNE, ITORQUE, CORIOLIS.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %GRAVLOAD Compute the gravity loading on manipulator joints
0002 %
0003 %    TAUG = GRAVLOAD(ROBOT, Q)
0004 %    TAUG = GRAVLOAD(ROBOT, Q, GRAV)
0005 %
0006 % Compute the joint gravity loading for the manipulator ROBOT in the
0007 % configuration Q.
0008 %
0009 % If Q is a row vector, the result is a row vector of joint torques.
0010 % If Q is a matrix, each row is interpretted as a joint state vector, and
0011 % the result is a matrix each row being the corresponding joint torques.
0012 %
0013 % Gravity vector can be given explicitly using the GRAV argument, otherwise
0014 % it defaults to the value of the ROBOT object.
0015 %
0016 % See also: ROBOT, RNE, ITORQUE, CORIOLIS.
0017 
0018 % Copyright (C) 1993-2008, by Peter I. Corke
0019 %
0020 % This file is part of The Robotics Toolbox for Matlab (RTB).
0021 %
0022 % RTB is free software: you can redistribute it and/or modify
0023 % it under the terms of the GNU Lesser General Public License as published by
0024 % the Free Software Foundation, either version 3 of the License, or
0025 % (at your option) any later version.
0026 %
0027 % RTB is distributed in the hope that it will be useful,
0028 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0029 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0030 % GNU Lesser General Public License for more details.
0031 %
0032 % You should have received a copy of the GNU Leser General Public License
0033 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0034 
0035 function tg = gravload(robot, q, grav)
0036     if numcols(q) ~= robot.n
0037         error('Insufficient columns in q')
0038     end
0039     if nargin == 2,
0040         tg = rne(robot, q, zeros(size(q)), zeros(size(q)));
0041     elseif nargin == 3,
0042         tg = rne(robot, q, zeros(size(q)), zeros(size(q)), grav);
0043     end
0044

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