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📁 Robot tool box - provides many functions that are useful in robotics including such things as kinem
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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 gravload</title>  <meta name="keywords" content="gravload">  <meta name="description" content="GRAVLOAD Compute the gravity loading on manipulator joints">  <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">  <meta name="generator" content="m2html &copy; 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> &gt;  <a href="index.html">.</a> &gt; gravload.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png">&nbsp;Master index</a></td><td align="right"><a href="index.html">Index for .&nbsp;<img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>gravload</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>GRAVLOAD Compute the gravity loading on manipulator joints</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 tg = gravload(robot, q, grav) </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">GRAVLOAD Compute the gravity loading on manipulator joints    TAUG = GRAVLOAD(ROBOT, Q)    TAUG = GRAVLOAD(ROBOT, Q, GRAV) Compute the joint gravity loading for the manipulator ROBOT in the configuration Q. If Q is a row vector, the result is a row vector of joint torques. If Q is a matrix, each row is interpretted as a joint state vector, and the result is a matrix each row being the corresponding joint torques. Gravity vector can be given explicitly using the GRAV argument, otherwise it defaults to the value of the ROBOT object. See also: ROBOT, <a href="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">RNE</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>.</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="numcols.html" class="code" title="function c = numcols(m)">numcols</a>	NUMCOLS(m)</li><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)"></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">%GRAVLOAD Compute the gravity loading on manipulator joints</span>0002 <span class="comment">%</span>0003 <span class="comment">%    TAUG = GRAVLOAD(ROBOT, Q)</span>0004 <span class="comment">%    TAUG = GRAVLOAD(ROBOT, Q, GRAV)</span>0005 <span class="comment">%</span>0006 <span class="comment">% Compute the joint gravity loading for the manipulator ROBOT in the</span>0007 <span class="comment">% configuration Q.</span>0008 <span class="comment">%</span>0009 <span class="comment">% If Q is a row vector, the result is a row vector of joint torques.</span>0010 <span class="comment">% If Q is a matrix, each row is interpretted as a joint state vector, and</span>0011 <span class="comment">% the result is a matrix each row being the corresponding joint torques.</span>0012 <span class="comment">%</span>0013 <span class="comment">% Gravity vector can be given explicitly using the GRAV argument, otherwise</span>0014 <span class="comment">% it defaults to the value of the ROBOT object.</span>0015 <span class="comment">%</span>0016 <span class="comment">% See also: ROBOT, RNE, ITORQUE, CORIOLIS.</span>0017 0018 <span class="comment">% Copyright (C) 1993-2008, by Peter I. Corke</span>0019 <span class="comment">%</span>0020 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0021 <span class="comment">%</span>0022 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0023 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0024 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0025 <span class="comment">% (at your option) any later version.</span>0026 <span class="comment">%</span>0027 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0028 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0029 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>0030 <span class="comment">% GNU Lesser General Public License for more details.</span>0031 <span class="comment">%</span>0032 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0033 <span class="comment">% along with RTB.  If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>0034 0035 <a name="_sub0" href="#_subfunctions" class="code">function tg = gravload(robot, q, grav)</a>0036     <span class="keyword">if</span> <a href="numcols.html" class="code" title="function c = numcols(m)">numcols</a>(q) ~= robot.n0037         error(<span class="string">'Insufficient columns in q'</span>)0038     <span class="keyword">end</span>0039     <span class="keyword">if</span> nargin == 2,0040         tg = <a href="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">rne</a>(robot, q, zeros(size(q)), zeros(size(q)));0041     <span class="keyword">elseif</span> nargin == 3,0042         tg = <a href="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">rne</a>(robot, q, zeros(size(q)), zeros(size(q)), grav);0043     <span class="keyword">end</span>0044</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> &copy; 2003</address></body></html>
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