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Gravity Torque

Joint torques that compensate gravity

  • Library:
  • Robotics System Toolbox / Manipulator Algorithms

Description

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.

Ports

Input

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Robot configuration, specified as a vector of positions for all nonfixed joints in the robot model, as set by the Rigid body tree parameter. You can also generate this vector for a complex robot using the homeConfiguration or randomConfiguration functions inside a Constant or MATLAB Function block.

Output

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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.

Parameters

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Robot model, specified as a RigidBodyTree object. You can also import a robot model from an URDF (Unified Robot Description Formation) file using importrobot.

The default robot model, twoJointRigidBodyTree, is a robot with revolute joints and two degrees of freedom.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Introduced in R2018a