• Library
• Description
• Dialog Box
• Default Properties
• Interfacing Function
• Computational Function (type 5)
• See Also
• Bibliography

rt_accel_if

Library

Robotics

Description

This block computes a vector of joint accelerations that result from applying the actuator torque to the manipulator robot with joint coordinates q and velocities qd.

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 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 robot's consituent links.

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

The robot model robot can be specified as block parameter.

Dialog Box

• 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.

Default Properties

• 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_accel_cf5

Interfacing Function

<PATH>/macros/rt_accel_if.sci

Computational Function (type 5)

<PATH>/macros/rt_accel_cf5.sci

See Also

rt_robot_if,  rt_rne_if,  rt_accel,  

Bibliography

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