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

rt_rne_if

Library

Robotics

Description

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

• 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.

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_rne_cf5

Interfacing Function

<PATH>/macros/rt_rne_if.sci

Computational Function (type 5)

<PATH>/macros/rt_rne_cf5.sci

See Also

rt_robot_if,  rt_accel_if,  rt_rne,  

Bibliography

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