12 lines
389 B
Matlab
12 lines
389 B
Matlab
function [I] = inertiaTensorDH2COM(L, Mi, Moment)
|
|
|
|
% Authors: Quentin Leboutet, Julien Roux, Alexandre Janot and Gordon Cheng
|
|
%
|
|
% This function computes the inertia tensor I of a robot link at its CoM, using the Inertia
|
|
% tensor L of the same link but computed at the joint centre position.
|
|
|
|
for i=1:numel(Mi)
|
|
I(:,:,i) = L(:,:,i) - Skew(Moment(:,i))'*Skew(Moment(:,i))./Mi(i);
|
|
end
|
|
|
|
end |