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Robotics

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 | |

Robot object | rt_robot() |

Initial joint state vector | 0 |

- Robot object :
robot object. It represents the
`n`-link 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. - Initial joint state vector :
`n`-element vector. It describes the initial joint coordinates, i.e. the initial configuration of manipulator.

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

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

` rt_accel_if`,

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