16 lines
782 B
Mathematica
16 lines
782 B
Mathematica
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function Y = regressorWithMotorDynamicsPndbt(q,qd,q2d)
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% ----------------------------------------------------------------------
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% This function adds motor dynamics to rigid body regressor.
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% It is simplified model of motor dynamics, it adds only reflected
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% inertia i.e. I_rflctd = Im*N^2 where N is reduction ratio - I_rflctd*q_2d
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% parameter is added to existing vector of each link [pi_i I_rflctd_i]
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% so that each link has 11 parameters
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% ----------------------------------------------------------------------
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if size(q,1)==2 && size(q,2)==1 && size(qd,1)==2 && size(qd,2)==1 ...
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&& size(q2d,1)==2 && size(q2d,2)==1
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Y_rgd_bdy = full_regressor_plnr(q,qd,q2d);
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Y = [Y_rgd_bdy(:,1:10), [q2d(1) 0]', Y_rgd_bdy(:,11:20)];
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else
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error('Input dimension error!')
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end
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