13 lines
550 B
Matlab
13 lines
550 B
Matlab
function tau = linearFrictionModel(a, qd)
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% ------------------------------------------------------------------
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% The function computes torque due to friction using linear
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% friction model: tau = fv*qd + fc*sign(qd) + fo
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% Inputs:
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% a - vector containing friction paramters, a(1) - viscous friction,
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% a(2) - Coulomb friction, a(3) - offset
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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)*sign(qd) + a(3);
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