perturb.m~

robot toolbox很多不全面

%PERTURB	return robot object with perturbed dynamic parameters
%
%	ROBOT = NOFRICTION(ROBOT)
%
%

% MOD HISTORY

%	Copyright (C) 1999 Peter. I. Corke

function  r2 = perturb(r, p)

	if nargin == 1,
		p = 0.1;	% 10 percent disturb by default
	end


	for i=1:r2.n,
		l2{i} = r.link{i};
		s = (2*rand-1)*p + 1;
		l2{i}.m = l2{i}.m * s;
		s = (2*rand-1)*p + 1;
		l2{i}.I = l2{i}.I * s;
	end

	r2 = robot(r, l2);		% clone the robot
	r2.name = ['P/' r.name];