This block computes the equation of motion for a robot model robot in an efficent manner, giving joint torques as a function of joint position (q), velocity (qd) and acceleration (qdd).

The number of inputs to this block is three and all inputs are regular inputs. The first input represents the joint state vector q. The second input is the joint velocity vector 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 robot's consituent links.

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

The robot model robot can be specified as block parameter.

Dialog Box

Rigid-body inverse dynamics
Robot object rt_robot()
Gravity [0; 0; 9.81]

Default Properties

Interfacing Function

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Computational Function (type 5)

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See Also

rt_robot_if,  rt_accel_if,  rt_rne,  


Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32

Matteo Morelli - Interdepartmental Research Center "E. Piaggio", University of Pisa, April 2007
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