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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of inertia</title> <meta name="keywords" content="inertia"> <meta name="description" content="INERTIA Compute the manipulator inertia matrix"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="./m2html.css"></head><body><a name="_top"></a><div><a href="./index.html">Home</a> > <a href="index.html">.</a> > inertia.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png"> Master index</a></td><td align="right"><a href="index.html">Index for . <img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>inertia</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>INERTIA Compute the manipulator inertia matrix</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>function M = inertia(robot, q) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre class="comment">INERTIA Compute the manipulator inertia matrix INERTIA(ROBOT, Q) Returns the n x n symmetric inertia matrix which relates joint torque to joint acceleration. ROBOT describes the manipulator dynamics and kinematics, and Q is an n element vector of joint state. See also: <a href="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">RNE</a>, <a href="cinertia.html" class="code" title="function Mx = cinertia(robot, q)">CINERTIA</a>, <a href="itorque.html" class="code" title="function it = itorque(robot, q, qdd)">ITORQUE</a>, <a href="coriolis.html" class="code" title="function c = coriolis(robot, q, qd)">CORIOLIS</a>, <a href="gravload.html" class="code" title="function tg = gravload(robot, q, grav)">GRAVLOAD</a>.</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2>This function calls:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">rne</a> RNE Compute inverse dynamics via recursive Newton-Euler formulation</li></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"><li><a href="cinertia.html" class="code" title="function Mx = cinertia(robot, q)">cinertia</a> CINERTIA Compute the Cartesian (operational space) manipulator inertia matrix</li><li><a href="maniplty.html" class="code" title="function w = maniplty(robot, q, which)">maniplty</a> MANIPLTY Manipulability measure</li></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%INERTIA Compute the manipulator inertia matrix</span>0002 <span class="comment">%</span>0003 <span class="comment">% INERTIA(ROBOT, Q)</span>0004 <span class="comment">%</span>0005 <span class="comment">% Returns the n x n symmetric inertia matrix which relates joint torque</span>0006 <span class="comment">% to joint acceleration.</span>0007 <span class="comment">% ROBOT describes the manipulator dynamics and kinematics, and Q is</span>0008 <span class="comment">% an n element vector of joint state.</span>0009 <span class="comment">%</span>0010 <span class="comment">% See also: RNE, CINERTIA, ITORQUE, CORIOLIS, GRAVLOAD.</span>0011 0012 <span class="comment">% Copyright (C) 1993-2008, by Peter I. Corke</span>0013 <span class="comment">%</span>0014 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0015 <span class="comment">%</span>0016 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0017 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0018 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0019 <span class="comment">% (at your option) any later version.</span>0020 <span class="comment">%</span>0021 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0022 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0023 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0024 <span class="comment">% GNU Lesser General Public License for more details.</span>0025 <span class="comment">%</span>0026 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0027 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0028 0029 <a name="_sub0" href="#_subfunctions" class="code">function M = inertia(robot, q)</a>0030 n = robot.n;0031 0032 <span class="keyword">if</span> numel(q) == robot.n,0033 q = q(:)';0034 <span class="keyword">end</span>0035 0036 M = zeros(n,n,0);0037 <span class="keyword">for</span> Q = q',0038 m = <a href="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">rne</a>(robot, ones(n,1)*Q', zeros(n,n), eye(n), [0;0;0]);0039 M = cat(3, M, m);0040 <span class="keyword">end</span></pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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