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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 cinertia</title> <meta name="keywords" content="cinertia"> <meta name="description" content="CINERTIA Compute the Cartesian (operational space) 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> > cinertia.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>cinertia</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>CINERTIA Compute the Cartesian (operational space) 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 Mx = cinertia(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">CINERTIA Compute the Cartesian (operational space) manipulator inertia matrix M = CINERTIA(ROBOT, Q) Return the n x n inertia matrix which relates Cartesian force/torque to Cartesian acceleration. ROBOT is an n-axis robot object and describes the manipulator dynamics and kinematics, and Q is an n element vector of joint state. See also: <a href="inertia.html" class="code" title="function M = inertia(robot, q)">INERTIA</a>, ROBOT, <a href="rne.html" class="code" title="function tau = rne(robot, a1, a2, a3, a4, a5)">RNE</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="inertia.html" class="code" title="function M = inertia(robot, q)">inertia</a> INERTIA Compute the manipulator inertia matrix</li><li><a href="jacob0.html" class="code" title="function J0 = jacob0(robot, q)">jacob0</a> JACOB0 Compute manipulator Jacobian in world coordinates</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">%CINERTIA Compute the Cartesian (operational space) manipulator inertia matrix</span>0002 <span class="comment">%</span>0003 <span class="comment">% M = CINERTIA(ROBOT, Q)</span>0004 <span class="comment">%</span>0005 <span class="comment">% Return the n x n inertia matrix which relates Cartesian force/torque to</span>0006 <span class="comment">% Cartesian acceleration.</span>0007 <span class="comment">% ROBOT is an n-axis robot object and describes the manipulator dynamics and</span>0008 <span class="comment">% kinematics, and Q is an n element vector of joint state.</span>0009 <span class="comment">%</span>0010 <span class="comment">% See also: INERTIA, ROBOT, RNE.</span>0011 0012 <span class="comment">% MOD HISTORY</span>0013 <span class="comment">% 4/99 add object support</span>0014 <span class="comment">% $Log: not supported by cvs2svn $</span>0015 <span class="comment">% $Revision: 1.2 $</span>0016 0017 <span class="comment">% Copyright (C) 1993-2008, by Peter I. Corke</span>0018 <span class="comment">%</span>0019 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0020 <span class="comment">%</span>0021 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0022 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0023 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0024 <span class="comment">% (at your option) any later version.</span>0025 <span class="comment">%</span>0026 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0027 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0028 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0029 <span class="comment">% GNU Lesser General Public License for more details.</span>0030 <span class="comment">%</span>0031 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0032 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0033 0034 <a name="_sub0" href="#_subfunctions" class="code">function Mx = cinertia(robot, q)</a>0035 J = <a href="jacob0.html" class="code" title="function J0 = jacob0(robot, q)">jacob0</a>(robot, q);0036 Ji = inv(J);0037 M = <a href="inertia.html" class="code" title="function M = inertia(robot, q)">inertia</a>(robot, q);0038 Mx = Ji' * M * Ji;</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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