FrictionSmooth:
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Smooth friction model.
This model uses functions that are differentiable. x may be an array
and d has coefficients for different joints. f is a two dimensional
array with one row per element of d and one column per element of x.
Type FrictionSmooth
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Form:
f = FrictionSmooth( x, d )
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Inputs
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x (n,:) Rate (linear or angular)
d (1,1) Friction data structure
.fStatic (1,1) Static friction maximum
.kStatic (1,1) Static friction scaling coefficient
.fCoulomb (1,1) Coulomb friction maximum
.kCoulomb (1,1) Coulomb friction scaling coefficient
(higher means a faster rise)
.bViscous (1,1) Viscous friction coefficient
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Outputs
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f (n,:) Friction
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Children:
Common: Graphics/Plot2D
