rne_if
This block computes the equation of motion for a robot model SerialLink in an efficent manner, giving joint torques as a function of joint position (q), velocity (qd) and acceleration (qdd).
The number of input of this block is three. The first input represents the joint state vector q. The second input is the joint velocity qd. The third input 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.
This block has one regular output, the joint torque vector.
The robot model SerialLink can be specified as block parameter.
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.
a 3-element vector specifying an alternative direction for gravity which will override the one defined by the robot object. Initial value: [0;0;9.81].