rt_perturb - randomly modify some dynamic parameters[view code]

Calling Sequence

robot2 = rt_perturb(robot, p)

Parameters

• robot : robot object. It describes the n-link manipulator kinematics and dynamics.
• p : scalar. The perturbation percentage.
• robot2 : robot object. A clone of robot with randomly modified link mass and inertia.

Description

Return a new robot object with randomly modified dynamic parameters: link mass and inertia. 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 where one model forms the basis of the model-based controller and the perturbed model is used for the actual plant.

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

Examples

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

   // perturb link mass and inertia with a 25 percent disturb
   p560p = rt_perturb(p560, 0.25);

   // compare their link masses and inertias
   L = p560.links; Lp = p560p.links;
   L(1).m,                              // link 1
   Lp(1).m,
   L(1).I,
   Lp(1).I,

   L(2).m,                              // link 2
   Lp(2).m,
   L(2).I,
   Lp(2).I,

   L(3).m,                              // link 3
   Lp(3).m,
   L(3).I,
   Lp(3).I,

   L(4).m,                              // link 4
   Lp(4).m,
   L(4).I,
   Lp(4).I,

   L(5).m,                              // link 5
   Lp(5).m,
   L(5).I,
   Lp(5).I,

   L(6).m,                              // link 6
   Lp(6).m,
   L(6).I,
   Lp(6).I,
   
  

See Also

rt_fdyn,  rt_frne,  rt_robot,  rt_rne,  

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