compute linear end effector's speed according to speeddata variable vmax means maximum speed specified by the manufacturer
0001 % compute linear end effector's speed according to speeddata variable 0002 % vmax means maximum speed specified by the manufacturer 0003 0004 % Copyright (C) 2012, by Arturo Gil Aparicio 0005 % 0006 % This file is part of ARTE (A Robotics Toolbox for Education). 0007 % 0008 % ARTE is free software: you can redistribute it and/or modify 0009 % it under the terms of the GNU Lesser General Public License as published by 0010 % the Free Software Foundation, either version 3 of the License, or 0011 % (at your option) any later version. 0012 % 0013 % ARTE is distributed in the hope that it will be useful, 0014 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0015 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0016 % GNU Lesser General Public License for more details. 0017 % 0018 % You should have received a copy of the GNU Leser General Public License 0019 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0020 function vel=obtain_linear_speed(robot, speeddata) 0021 0022 if strncmp(speeddata, 'vmax',4); 0023 vel=robot.linear_velmax; 0024 else 0025 [tag,remain] = strtok(speeddata, 'v'); 0026 vel = robot.linear_velmax*eval(tag)/1000; 0027 end