robot/rt_nofriction - remove friction from a robot object[view code]

Calling Sequence

robot2 = rt_nofriction(robot [, "all"])

Parameters

• robot : robot object. It describes the n-link manipulator kinematics and dynamics.
• robot2 : robot object. A clone of robot with modified joint friction properties.

Description

Return a new robot object with modified joint friction properties. If the optional string "all" is not specified, then the function sets the Coulomb friction values to zero in the constituent links. Else, both viscous and Coulomb friction values in the constituent links are set to zero.

The resulting robot object has its name string prepended with "NF/".

This is important for forward dynamics computation (see rt_fdyn) where the presence of friction can prevent the numerical integration from converging.

Examples

   // load Puma 560 parameters
   exec <PATH>/models/rt_puma560.sce;

   // A new robot whose links have Coulomb friction values set to zero
   p560_nocoul = rt_nofriction(p560);
   rt_showlink(p560_nocoul);

   // A new robot whose links have both viscous and Coulomb friction values
   // set to zero
   p560nf = rt_nofriction(p560, "all");
   rt_showlink(p560nf);
   
  

See Also

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

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