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59 lines
1.9 KiB
59 lines
1.9 KiB
%SerialLink.INERTIA Manipulator inertia matrix
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%
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% I = R.inertia(Q) is the NxN symmetric joint inertia matrix which relates
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% joint torque to joint acceleration for the robot at joint configuration Q.
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% The diagonal elements I(j,j) are the inertia seen by joint actuator j.
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% The off-diagonal elements are coupling inertias that relate acceleration
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% on joint i to force/torque on joint j.
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%
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% If Q is a matrix (DxN), each row is interpretted as a joint state
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% vector, and the result (NxNxD) is a 3d-matrix where each plane corresponds
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% to the inertia for the corresponding row of Q.
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%
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% See also SerialLink.RNE, SerialLink.CINERTIA, SerialLink.ITORQUE.
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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 M = inertia(robot, q)
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if numcols(q) ~= robot.n
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error('q must have %d columns', robot.n);
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end
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if numrows(q) > 1
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M = [];
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for i=1:numrows(q)
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M = cat(3, M, robot.inertia(q(i,:)));
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end
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return
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end
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n = robot.n;
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if numel(q) == robot.n,
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q = q(:)';
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end
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M = zeros(n,n,0);
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for Q = q',
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m = rne(robot, ones(n,1)*Q', zeros(n,n), eye(n), [0;0;0]);
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M = cat(3, M, m);
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end
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