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45 lines
1.4 KiB
45 lines
1.4 KiB
%FRICTION compute friction torque on the LINK object
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%
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% TAU = FRICTION(LINK, QD)
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%
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% Return the friction torque on the link moving at speed QD. Depending
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% on fields in the LINK object viscous and/or Coulomb friction
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% are computed.
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%
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% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
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%
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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(l, qd)
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%Link.friction Joint friction force
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%
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% F = L.friction(QD) is the joint friction force/torque for link velocity QD
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tau = 0.0;
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tau = l.B * qd;
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if qd > 0
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tau = tau + l.Tc(1);
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elseif qd < 0
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tau = tau + l.Tc(2);
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end
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tau = -tau; % friction opposes motion
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endfunction % friction()
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