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Inverse Dynamics

Required joint torques for given motion

  • Library:
  • Robotics System Toolbox / Manipulator Algorithms

Description

The Inverse Dynamics block returns the joint torques required for the robot to maintain the specified robot state. To get the required joint torques, specify the robot configuration (joint positions), joint velocities, joint accelerations, and external forces.

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.

Joint velocities, specified as a vector. The number of joint velocities is equal to the degrees of freedom (number of nonfixed joints) of the robot.

Joint accelerations, specified as a vector. The number of joint accelerations is equal to the degrees of freedom of the robot.

External force matrix, specified as a 6-by-n matrix, where n is the number of bodies in the robot model. The matrix contains nonzero values in the rows corresponding to specific bodies. Each row is a vector of applied forces and torques that act as a wrench for that specific body. Generate this matrix using externalForce with a MATLAB Function block

Output

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Joint torques, returned 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