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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 nofriction</title> <meta name="keywords" content="nofriction"> <meta name="description" content="NOFRICTION Return robot object with zero link friction"> <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> > nofriction.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>nofriction</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>NOFRICTION Return robot object with zero link friction</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 = nofriction(r, varargin) </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">NOFRICTION Return robot object with zero link friction ROBOT = NOFRICTION(ROBOT) Return the robot object but with non-linear friction coefficients set to zero. ROBOT = NOFRICTION(ROBOT, 'all') Return the robot object but with all friction coefficients set to zero. Non-linear (Coulomb) friction can cause numerical problems when integrating the equations of motion (FDYN). The resulting robot object has its name string modified by prepending 'NF/'. See also: LINK/NOFRICTION</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="nofriction.html" class="code" title="function r2 = nofriction(r, varargin)">nofriction</a> NOFRICTION Return robot object with zero link friction</li><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)"><li><a href="nofriction.html" class="code" title="function r2 = nofriction(r, varargin)">nofriction</a> NOFRICTION Return robot object with zero link friction</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">%NOFRICTION Return robot object with zero link friction</span>0002 <span class="comment">%</span>0003 <span class="comment">% ROBOT = NOFRICTION(ROBOT)</span>0004 <span class="comment">%</span>0005 <span class="comment">% Return the robot object but with non-linear friction coefficients set to</span>0006 <span class="comment">% zero.</span>0007 <span class="comment">%</span>0008 <span class="comment">% ROBOT = NOFRICTION(ROBOT, 'all')</span>0009 <span class="comment">%</span>0010 <span class="comment">% Return the robot object but with all friction coefficients set to zero.</span>0011 <span class="comment">%</span>0012 <span class="comment">% Non-linear (Coulomb) friction can cause numerical problems when integrating</span>0013 <span class="comment">% the equations of motion (FDYN).</span>0014 <span class="comment">%</span>0015 <span class="comment">% The resulting robot object has its name string modified by prepending 'NF/'.</span>0016 <span class="comment">%</span>0017 <span class="comment">% See also: LINK/NOFRICTION</span>0018 0019 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0020 <span class="comment">%</span>0021 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0022 <span class="comment">%</span>0023 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0024 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0025 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0026 <span class="comment">% (at your option) any later version.</span>0027 <span class="comment">%</span>0028 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0029 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0030 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0031 <span class="comment">% GNU Lesser General Public License for more details.</span>0032 <span class="comment">%</span>0033 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0034 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0035 0036 <a name="_sub0" href="#_subfunctions" class="code">function r2 = nofriction(r, varargin)</a>0037 0038 r2 = <a href="robot.html" class="code" title="function r = robot(L, a1, a2, a3)">robot</a>(r);0039 0040 <span class="keyword">for</span> i=1:r2.n,0041 l2{i} = <a href="nofriction.html" class="code" title="function r2 = nofriction(r, varargin)">nofriction</a>(r.link{i}, varargin{:});0042 <span class="keyword">end</span>0043 0044 r2.link = l2;0045 r2.name = [<span class="string">'NF/'</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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