<< accel SerialLink fdyn >>

Robotics_Toolbox >> Robotics_Toolbox > SerialLink > coriolis

coriolis

Coriolis matrix

Calling Sequence

C = coriolis(R, Q, QD)
C = coriolis(R, QQD)

Description

C = coriolis(R, Q, QD) is the Coriolis/centripetal matrix (NxN) for the robot in configuration Q and velocity QD, where N is the number of joints. The product C*QD is the vector of joint force/torque due to velocity coupling. The diagonal elements are due to centripetal effects and the off-diagonal elements are due to Coriolis effects. This matrix is also known as the velocity coupling matrix, since gives the disturbance forces on all joints due to velocity of any joint.

If Q and QD are matrices (KxN), each row is interpretted as a joint state vector, and the result (NxNxK) is a 3d-matrix where each plane corresponds to a row of Q and QD.

C = coriolis(R, QQD) as above but the matrix QQD (1x2N) is [Q QD].

Notes

See also

Authors


Report an issue
<< accel SerialLink fdyn >>