www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\@robot\friction.m
%FRICTION Compute friction torque for a ROBOT object % % TAU = FRICTION(ROBOT, QD) % % Return the vector of joint friction torques for the specified % ROBOT object with link velocities of QD. % % SEE ALSO: LINK/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(robot, qd) L = robot.link; for i=1:robot.n, tau(i) = friction(L{i}, qd(i)); end