12 lines
559 B
Mathematica
12 lines
559 B
Mathematica
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function tau = nonlinearFrictionModel(a, qd)
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% ------------------------------------------------------------------
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% The function computes torque due to friction using nonlinear
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% friction model
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% Inputs:
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% a - vector containing friction paramters, a(1) - viscous friction,
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% a(2) - offset, a(3:5) - nonlinear term paramteres
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% qd - generilized velocity of the joint(link)
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% Outputs:
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% tau - troque due to friction
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% -------------------------------------------------------------------
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tau = a(1)*qd + a(2) + a(3)./( 1 + exp(-a(4).*(qd + a(5)) ) );
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