20 lines
539 B
Mathematica
20 lines
539 B
Mathematica
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function GravityForce = calculateGravityForce(thetaMea)
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% Example:
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% thetalist = [0;0;0;0;0;pi/2;0;0;0];
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% calculateGravityForce([thetalist])
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% code start
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opt.robot_def = 'direct';
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opt.KM_method = 'SCREW';
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opt.Vel_method = 'Direct';
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opt.LD_method = 'Direct';
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opt.debug = true;
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opt.robotName = 'R1000_DVT';
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opt.reGenerate = false;
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opt.Isreal = true;
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zero_ = zeros(length(thetaMea),1);
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robot = get_robot_R1000_DVT(zero_,zero_,zero_,opt);
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robot = get_Kinematics_R1000_DVT(robot, opt);
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GravityForce = getGravityForce(thetaMea, robot, opt);
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