www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\@robot\perturb.m
%PERTURB Return robot object with perturbed dynamic parameters % % ROBOT = PERTURB(ROBOT, P) % % Return a new robot object in which the dynamic parameters (link mass and % inertia) have been perturbed. The perturbation is multiplicative so that % values are multiplied by random numbers in the interval (1-P) to (1+P). % % Useful for investigating the robustness of various model-based control % schemes. % % The name string of the perturbed robot is prefixed by 'P/'. % % 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 r2 = perturb(r, p) if nargin == 1, p = 0.1; % 10 percent disturb by default end for i=1:r.n, l2{i} = r.link{i}; s = (2*rand-1)*p + 1; l2{i}.m = l2{i}.m * s; s = (2*rand-1)*p + 1; l2{i}.I = l2{i}.I * s; end r2 = robot(r, l2); % clone the robot r2.name = ['P/' r.name];