15 lines
561 B
Mathematica
15 lines
561 B
Mathematica
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function generate_friction_eq()
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% Create symbolic generilized coordiates, their first and second deriatives
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qd_sym = sym('qd%d',[6,1],'real');
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% Create symbolic experssions for friction parameters
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pi_frcn = sym('pi_frcn_%d%d', [18,1], 'real');
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% Friction torque
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pi_frcn_tmp = reshape(pi_frcn, [3, 6])';
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tau_frcn = pi_frcn_tmp(:,1).*qd_sym + pi_frcn_tmp(:,2).*sign(qd_sym) + pi_frcn_tmp(:,3);
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% Generate a fucnction from symbolic expressions
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matlabFunction(tau_frcn, 'File','autogen/F_vctr_fcn',...
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'Vars',{qd_sym, pi_frcn}, 'Optimize', true);
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