coriolis

RTSX Help: compute coriolis matrix

coriolis

Compute Coriolis/centripetal matrix in robot dynamics

Syntax

  • C = coriolis(robot, q, qd)

Input Arguments

  • robot — n-link robot data structure created with SerialLink( )
  • q — 1 x n joint position
  • q — 1 x n joint velocity

Output Arguments

  • C — n x n Coriolis/centripetal matrix

Description

C = coriolis(robot, q, qd) computes an n x n Coriolis/centripetal matrix for a robot in joint configuration q and velocity qd, where n is the number of joints. The diagonal elements are due to centripetal effects and the off-diagonal elements are due to Coriolis effects. Joint frictions are eliminated in the computation.

Examples

-->exec('./models/mdl_puma560.sce',-1);
-->qd = 0.5*[1 1 1 1 1 1];
-->C = coriolis(p560, q_n, qd)
 C  =
    0.         - 0.9115459    0.2172555    0.0012865  - 0.0025932    0.00006    
    0.3140112  - 5.551D-17    0.5786335  - 0.0010762  - 0.0001034  - 0.0000059  
  - 0.1803736  - 0.1928778    0.         - 0.0004544  - 0.0023017  - 0.0000059  
  - 0.0001528    0.0005860  - 0.0000358    0.           0.0002566  - 0.0000424  
    0.           0.0000207    0.0013810  - 0.0002061    0.         - 0.0000059  
    0.           0.00002      0.00002      0.0000283    0.0000059    0.

See also