Joint torques that compensate gravity
Robotics System Toolbox / Manipulator Algorithms
The Gravity Torque block returns the joint torques required to hold the robot at a given configuration with the current Gravity setting on the Rigid body tree robot model.
Config— Robot configuration
JointTorq— Joint torques
Joint torques, specified as a vector. Each element corresponds to a torque applied to a specific joint. The number of joint torques is equal to the degrees of freedom (number of nonfixed joints) of the robot.
Rigid body tree— Robot model