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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 perturb</title> <meta name="keywords" content="perturb"> <meta name="description" content="PERTURB Return robot object with perturbed dynamic parameters"> <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="#">@robot</a> > perturb.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 ./@robot <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>perturb</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>PERTURB Return robot object with perturbed dynamic parameters</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 r2 = perturb(r, p) </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">PERTURB Return robot object with perturbed dynamic parameters ROBOT = PERTURB(ROBOT, P) Return a new robot object in which the dynamic parameters (link mass and inertia) have been perturbed. 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. The name string of the perturbed robot is prefixed by 'P/'.</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="robot.html" class="code" title="function r = robot(L, a1, a2, a3)">robot</a> ROBOT Robot object constructor</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">%PERTURB Return robot object with perturbed dynamic parameters</span>0002 <span class="comment">%</span>0003 <span class="comment">% ROBOT = PERTURB(ROBOT, P)</span>0004 <span class="comment">%</span>0005 <span class="comment">% Return a new robot object in which the dynamic parameters (link mass and</span>0006 <span class="comment">% inertia) have been perturbed. The perturbation is multiplicative so that</span>0007 <span class="comment">% values are multiplied by random numbers in the interval (1-P) to (1+P).</span>0008 <span class="comment">%</span>0009 <span class="comment">% Useful for investigating the robustness of various model-based control</span>0010 <span class="comment">% schemes.</span>0011 <span class="comment">%</span>0012 <span class="comment">% The name string of the perturbed robot is prefixed by 'P/'.</span>0013 <span class="comment">%</span>0014 0015 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0016 <span class="comment">%</span>0017 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0018 <span class="comment">%</span>0019 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0020 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0021 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0022 <span class="comment">% (at your option) any later version.</span>0023 <span class="comment">%</span>0024 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0025 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0026 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0027 <span class="comment">% GNU Lesser General Public License for more details.</span>0028 <span class="comment">%</span>0029 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0030 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0031 0032 <a name="_sub0" href="#_subfunctions" class="code">function r2 = perturb(r, p)</a>0033 0034 <span class="keyword">if</span> nargin == 1,0035 p = 0.1; <span class="comment">% 10 percent disturb by default</span>0036 <span class="keyword">end</span>0037 0038 0039 <span class="keyword">for</span> i=1:r.n,0040 l2{i} = r.link{i};0041 s = (2*rand-1)*p + 1;0042 l2{i}.m = l2{i}.m * s;0043 s = (2*rand-1)*p + 1;0044 l2{i}.I = l2{i}.I * s;0045 <span class="keyword">end</span>0046 0047 r2 = <a href="robot.html" class="code" title="function r = robot(L, a1, a2, a3)">robot</a>(r, l2); <span class="comment">% clone the robot</span>0048 r2.name = [<span class="string">'P/'</span> r.name];</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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