You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
39 lines
1.3 KiB
39 lines
1.3 KiB
%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.
|
|
|
|
% MOD HISTORY
|
|
% 4/99 add object support
|
|
% $Log: not supported by cvs2svn $
|
|
% $Revision: 1.2 $
|
|
|
|
|
|
|
|
% 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.gnu.org/licenses/>.
|
|
%
|
|
% http://www.petercorke.com
|
|
|
|
function Mx = cinertia(robot, q)
|
|
J = jacob0(robot, q);
|
|
Ji = inv(J); %#ok<*MINV>
|
|
M = inertia(robot, q);
|
|
Mx = Ji' * M * Ji;
|