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.
35 lines
1.2 KiB
35 lines
1.2 KiB
|
|
% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
|
|
%
|
|
% 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 dyn(r)
|
|
%SerialLink.dyn Display inertial properties
|
|
%
|
|
% R.dyn() displays the inertial properties of the SerialLink object in a multi-line
|
|
% format. The properties shown are mass, centre of mass, inertia, gear ratio,
|
|
% motor inertia and motor friction.
|
|
%
|
|
% See also Link.dyn.
|
|
for j=1:r.n
|
|
fprintf('----- link %d\n', j);
|
|
l = r.links(j);
|
|
l.dyn()
|
|
end
|
|
end
|