• Library
• Description
• Dialog Box
• Default Properties
• Interfacing Function
• Compiled Super Block content
• See Also
• Bibliography

rt_robot_if

Library

Robotics

Description

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.

Dialog Box

• 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.

Default Properties

• 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

Interfacing Function

<PATH>/macros/rt_robot_if.sci

Compiled Super Block content

See Also

rt_accel_if,  rt_rne_if,  rt_fdyn,  

Bibliography

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