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47 lines
1.5 KiB
47 lines
1.5 KiB
%SerialLink.nofriction Remove friction
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%
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% RNF = R.nofriction() is a robot object with the same parameters as R but
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% with non-linear (Coulomb) friction coefficients set to zero.
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%
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% RNF = R.nofriction('all') as above but all friction coefficients set to zero.
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%
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% RNF = R.nofriction('viscous') as above but only viscous friction coefficients
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% are set to zero.
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%
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% Notes::
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% - Non-linear (Coulomb) friction can cause numerical problems when integrating
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% the equations of motion (R.fdyn).
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% - The resulting robot object has its name string prefixed with 'NF/'.
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%
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% See also SerialLink.fdyn, Link.nofriction.
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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 r2 = nofriction(r, varargin)
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r2 = SerialLink(r); % make a copy
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for j=1:r2.n
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r2.links(j) = r.links(j).nofriction(varargin{:});
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end
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r2.name = ['NF/' r.name];
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