This block is a Super Block and it simulates the forward (direct) rigid-body dynamics of the robot model robot. 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 outputs to this block is three and all outputs are regular outputs. The first output represents the joint state vector q. The second output is the joint velocity vector 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 robot's consituent links. The robot model robot can be specified as block parameter.
|Rigid-body dynamic model of robot|
|Initial joint state vector||0|
rt_accel_if, rt_rne_if, rt_fdyn,
Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32