Block Screenshot
accel_if
This block computes a vector of joint accelerations that result from applying the actuator torque to the manipulator SerialLink with joint coordinates q and velocities qd.
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 vector torque of generalized torques applied to manipulator's end-effector. 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 acceleration 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.