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Robotics_Toolbox >> Robotics_Toolbox > SerialLink > friction

friction

Friction force

Calling Sequence

TAU = friction(ROBOT,QD)
TAU = friction(L,QD)

Parameters

L :

Link object

ROBOT :

SerialLink object

QD :

vector of size (1xN) where N is the number of joints of the robot.

Description

TAU = friction(L,QD) is the joint friction force/torque for link velocity QD.

TAU = friction(ROBOT,QD) is the vector of joint friction forces/torques for the robot moving with joint velocities QD.

The friction model includes: - viscous friction which is linear with velocity;

- Coulomb friction which is proportional to sign(QD).

Notes

Bibliography

[1] Robotics, Vision & Control, Chap 7, P. Corke, Springer 2011.

See also

Authors


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