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