www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\@link\friction.m
%FRICTION Compute friction torque on the LINK object % % TAU = FRICTION(LINK, QD) % % Return the friction torque on the link moving at speed QD. Depending % on fields in the LINK object viscous and/or Coulomb friction % are computed. % % SEE ALSO: ROBOT/FRICTION % Copyright (C) 1999-2008, 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/>. function tau = friction(l, qd) tau = 0.0; qd = qd(:); tau = l.B * qd; tau = tau + (qd > 0) * l.Tc(1) + (qd < 0) * l.Tc(2);