www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\coriolis.m
%CORIOLIS Compute the manipulator Coriolis matrix % % C = CORIOLIS(ROBOT, Q, QD) % % Returns the n element Coriolis/centripetal torque vector at the specified % pose and velocity. % ROBOT is a robot object and describes the manipulator dynamics and % kinematics. % % If Q and QD are row vectors, CORIOLIS(ROBOT,Q,QD) is a row vector % of joint torques. % If Q and QD are matrices, each row is interpretted as a joint state % vector, and CORIOLIS(ROBOT,Q,QD) is a matrix each row being the % corresponding joint % torques. % % See also: ROBOT, RNE, ITORQUE, GRAVLOAD. % 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 c = coriolis(robot, q, qd) if nargin == 3, c = rne(robot, q, qd, zeros(size(q)), [0;0;0]); else n = length(q); c = []; qd = zeros(1,n); for i=1:n, qd(i) = 1; C = coriolis(robot, q, qd); qd(i) = 0; c(:,i) = C'; end end