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Robotics

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.

Rigid-body inverse dynamics | |

Robot object | rt_robot() |

Gravity | [0; 0; 9.81] |

- Robot object : robot object. 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 Scicos diagram, in order that it can be used.
- Gravity : a 3-element vector specifying an alternative direction for gravity which will override the one defined by the robot object.

- always active:
**no** - direct-feedthrough:
**yes** - zero-crossing:
**no** - mode:
**no** - number/sizes of inputs:
**3 / [-1,1], [-1,1], [-1,1]** - number/sizes of activation inputs:
**0 /** - number/sizes of outputs:
**1 / [-1,1]** - number/sizes of activation outputs:
**0 /** - continuous-time state:
**no** - discrete-time state:
**no** - name of computational function:
**rt_rne_cf5**

<PATH>/macros/rt_rne_if.sci[view code]

<PATH>/macros/rt_rne_cf5.sci[view code]

` rt_robot_if`,

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