41 lines
1.5 KiB
Matlab
41 lines
1.5 KiB
Matlab
function [Rpr,Rcur] = group(Ppr,Pcur,lam,zi)
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% Regroup inertial parameters
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% Ppr - parameters for link i-1
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% Pcur - parameters for link i
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% lam - lambda matrix for link i
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% zi - axis of rotation for lin i
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% Return:
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% Rpr - regrouped parameters for link i-1
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% Rcur - regrouped parameters for link i
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Rcur = Pcur;
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% --------------------------------------------------------------------
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% mass
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% --------------------------------------------------------------------
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Rpr = Ppr + Pcur(10)*lam(10,:)';
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Rcur(10) = 0;
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% --------------------------------------------------------------------
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% mass center and inertia
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% --------------------------------------------------------------------
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if zi(3) == 1 % Z rotation, add mZ, combine XX and YY
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sum = simplify(lam(1,:) + lam(4,:));
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Rpr = Rpr + sum' * Pcur(4) + lam(9,:)' * Pcur(9);
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Rcur(1) = Pcur(1) - Pcur(4);
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Rcur(4) = 0;
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Rcur(9) = 0;
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elseif zi(2) == 1 % Y rotation, add mY, combine XX and ZZ
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sum = simplify(lam(1,:) + lam(6,:));
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Rpr = Rpr + sum' * Pcur(6) + lam(8,:)' * Pcur(8);
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Rcur(1) = Pcur(1) - Pcur(6);
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Rcur(6) = 0;
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Rcur(8) = 0;
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elseif zi(1) == 1 % X rotation, add mZ, combine YY and ZZ
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sum = simplify(lam(4,:) + lam(6,:));
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Rpr = Rpr + sum' * Pcur(6) + lam(7,:)' * Pcur(7);
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Rcur(4) = Pcur(4) - Pcur(6);
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Rcur(6) = 0;
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Rcur(7) = 0;
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else
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disp("Wrong axis definition");
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end
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end |