www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\cinertia.m
%CINERTIA Compute the Cartesian (operational space) manipulator inertia matrix % % M = CINERTIA(ROBOT, Q) % % Return the n x n inertia matrix which relates Cartesian force/torque to % Cartesian acceleration. % ROBOT is an n-axis robot object and describes the manipulator dynamics and % kinematics, and Q is an n element vector of joint state. % % See also: INERTIA, ROBOT, RNE. % MOD HISTORY % 4/99 add object support % $Log: not supported by cvs2svn $ % $Revision: 1.2 $ % Copyright (C) 1993-2008, 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 Mx = cinertia(robot, q) J = jacob0(robot, q); Ji = inv(J); M = inertia(robot, q); Mx = Ji' * M * Ji;