2020-01-27 12:44:26 +00:00
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function frctn = frictionRegressor(qd_fltrd)
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% ----------------------------------------------------------------------
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% The function computes friction regressor for each joint of the robot.
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% Fv*qd + Fc*sign(qd) + F0, and the second one is continous,
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% ---------------------------------------------------------------------
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2020-02-05 04:55:09 +00:00
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noJoints = size(qd_fltrd,1);
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frctn = zeros(noJoints, noJoints*3);
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for i = 1:noJoints
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2020-01-27 12:44:26 +00:00
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frctn(i,3*i-2:3*i) = [qd_fltrd(i), sign(qd_fltrd(i)), 1];
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end
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