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robot_if

robot_if

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Description

This block is a Super Block and it simulates the forward (direct) rigi-boddy dynamics of the robot model SerialLink. Given a joint torque vector, this block returns joint positions (q), velocities (qd) and accelerations (qdd).

This block has one regular input, the joint torque vector.

The number of output of this block is three. The first output represents the joint state vector q. The second output is the joint velocity qd. The third output represents the joint acceleration vector qdd.

Each of these vector valued signals must have n elements, where n is the number of SerialLink's constituent links. The robot model SerialLink can be specified as block parameter.

Dialog Box

Robot object :

SerialLink. It represents the robot model to be simulated. Note that this variable is a symbolic parameter which has to be defined in the context of the Xcos diagram in order to be used.

Initial joint state vector :

n-element vector. It descries the initial joint coordinates, i.e. the initial configuration of manipulator. Initial value: 0.

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