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46 lines
1.3 KiB
46 lines
1.3 KiB
%SerialLink.friction Friction force
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%
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% TAU = R.friction(QD) is the vector of joint friction forces/torques for the
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% robot moving with joint velocities QD.
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%
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% The friction model includes:
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% - viscous friction which is linear with velocity;
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% - Coulomb friction which is proportional to sign(QD).
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%
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% See also Link.friction.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function tau = friction(robot, qd)
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L = robot.links;
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tau = zeros(1,robot.n);
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if robot.issym
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tau = sym(tau);
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end
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for j=1:robot.n
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tau(j) = L(j).friction(qd(j));
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end
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