robot/rt_friction - compute robot friction torque vector[view code]

Calling Sequence

tau_f = rt_friction(robot, qd)

Parameters

• robot : robot object. It describes the n-link manipulator kinematics and dynamics.
• qd : n-element vector. A vector of joint velocities.
• tau_f : n-element vector. The resulting vector of joint friction torque.

Description

This function computes the joint friction torque vector for the robot object robot with a joint velocity vector qd.

Examples

   // The following example shows how rt_friction() can be used to compute
   // the joint friction torque vector for the Puma 560 robot
   exec <PATH>/models/rt_puma560.sce;       // load Puma 560 parameters
   qd = [0.5875, 0.0096, -0.3967, -1.4494, 0.8329, -0.5956],

   // compute vector of joint friction torque:
   // when q(i) < 0, frict(i) = qd(i)*p560.links(i).B + p560.links(i).Tc(2)
   // when q(i) > 0, frict(i) = qd(i)*p560.links(i).B + p560.links(i).Tc(1)
   frict = rt_friction(p560, qd),

   // i = 1 (q(i) > 0)
   qd(1)*p560.links(1).B + p560.links(1).Tc(1),

   // i = 3 (q(i) < 0)
   qd(3)*p560.links(3).B + p560.links(3).Tc(2),
   
  

See Also

rt_link,  link/rt_nofriction,  link/rt_friction,  rt_robot,  robot/rt_nofriction,  

Authors

original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa

Bibliography

Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32

M.W. Walker and D.E. Orin. Efficient dynamic computer simulation of robotic mechanisms. ASME Journal of Dynamic Systems, Measurement and Control, 104:205-211, 1982