%SerialLink.itorque Inertia torque % % TAUI = R.itorque(Q, QDD) is the inertia force/torque vector (1xN) at the % specified joint configuration Q (1xN) and acceleration QDD (1xN), that is, % TAUI = INERTIA(Q)*QDD. % % If Q and QDD are matrices (KxN), each row is interpretted as a joint state % vector, and the result is a matrix (KxN) where each row is the corresponding % joint torques. % % Note:: % - If the robot model contains non-zero motor inertia then this will % included in the result. % % See also SerialLink.rne, SerialLink.inertia. % 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 it = itorque(robot, q, qdd) it = rne(robot, q, zeros(size(q)), qdd, [0;0;0]);