perturb
43
perturb
Purpose
Perturb robot dynamic parameters
Synopsis
robot2 = perturb(robot, p)
Description
Return a new robot object with randomly modified dynamic parameters: link mass and inertia. The
perturbation is multiplicative so that values are multiplied by random numbers in the interval (1-p) to
(1+p).
Useful for investigating the robustness of various model-based control schemes where one model
forms the basis of the model-based controller and the peturbed model is used for the actual plant.
The resulting robot object has its name string prepended with 'P/'.
See Also
fdyn, rne, robot
Robotics Toolbox Release 8
Peter Corke, December 2008
Summary :
perturb 43 perturb Purpose Perturb robot dynamic parameters Synopsis robot2 = perturb(robot, p) Description Return a new robot object with randomly modified dynamic parameters: link mass and inertia.
Tags :
robot,perturb,parameters,modelbased,model,object,dynamic,corke,synopsis,numbers,plant,interal,new