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Robotics_Toolbox >> Robotics_Toolbox > SerialLink > perturb

perturb

Perturb robot parameters

Calling Sequence

NR = numrows(M)

Description

RP = perturb(ROBOT,P) is 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). The name string of the perturbed robot is prefixed by 'P/'.

Useful for investigating the robustness of various model-based control schemes. For example to vary parameters in the range +/- 10 percent is: r2 = perturb(p560,0.1);

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