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Robotics_Toolbox >> Robotics_Toolbox > SerialLink > nofriction

nofriction

Remove friction

Calling Sequence

RNF = nofriction(ROBOT)
RNF = nofriction(ROBOT, OPT)
LN = nofriction(L)
LN = nofriction(L,OPT)

Parameters

L :

Link object

ROBOT :

SerialLink object

OPT :

valid string options "all", "viscous", "coulomb"

Description

RNF = nofriction(ROBOT) is a robot object with the same parameters as ROBOT but with non-linear (Coulomb) friction coefficients set to zero.

RNF = nofriction(ROBOT,'all') as above but all friction coefficients set to zero.

RNF = nofriction(ROBOT,'viscous') as above but only viscous friction coefficients are set to zero.

LN = nofriction(L) is a link object with the same parameters as L except nonlinear (Coulomb) friction parameter is zero.

LN = nofriction(L,'all') as above except that viscous and Coulomb friction are set to zero.

LN = nofriction(L,'coulomb') as above except that Coulomb friction is set to zero.

LN = nofriction(L,'viscous') as above except that viscous friction is set to zero.

Notes

See also

Authors


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