Remove friction
RNF = nofriction(ROBOT) RNF = nofriction(ROBOT, OPT) LN = nofriction(L) LN = nofriction(L,OPT)
Link object
SerialLink object
valid string options "all", "viscous", "coulomb"
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.
Non-linear (Coulomb) friction can cause numerical problems when integrating the equations of motion (fdyn).
The resulting robot object has its name string prefixed with 'NF/'.
Forward dynamic simulation can be very slow with finite Coulomb friction.