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41 lines
1.3 KiB
41 lines
1.3 KiB
%NOFRICTION return link object with zero friction
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%
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% LINK = NOFRICTION(LINK)
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%
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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 l2 = nofriction(l, only)
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%Link.nofriction Remove friction
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%
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% LN = L.nofriction() is a link object with the same parameters as L except
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% nonlinear (Coulomb) friction parameter is zero.
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%
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% LN = L.nofriction('all') is a link object with the same parameters as L
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% except all friction parameters are zero.
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l2 = Link(l);
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if (nargin == 2) && strcmpi(only(1:3), 'all')
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l2.B = 0;
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end
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l2.Tc = [0 0];
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end
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