|
SUPPORT SITE |
|
|
|
SUPPORT SITE |
|
Path: Dynamics/Robotics
% 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
--------------------------------------------------------------------------
Form:
f = FrictionSmooth( x, d )
--------------------------------------------------------------------------
------
Inputs
------
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
-------
Outputs
-------
f (n,:) Friction
--------------------------------------------------------------------------
Common: CommonData/SwooshWatermark Common: General/CellToMat Common: General/MatToCell Common: General/Watermark Common: Graphics/NewFig Common: Graphics/Plot2D Common: Graphics/PltStyle
Back to the Dynamics Module page