%SerialLink.cinertia Cartesian inertia matrix % % M = R.cinertia(Q) is the NxN Cartesian (operational space) inertia matrix which relates % Cartesian force/torque to Cartesian acceleration at the joint configuration Q, and N % is the number of robot joints. % % See also SerialLink.inertia, SerialLink.rne. % Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9) % % Copyright (C) 1993-2011, by Peter I. Corke % % This file is part of The Robotics Toolbox for MATLAB (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see . % % http://www.petercorke.com function Mx = cinertia(robot, q) J = jacob0(robot, q); Ji = inv(J); M = inertia(robot, q); Mx = Ji' * M * Ji;