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Joint Space Mass Matrix

Joint-space mass matrix for robot configuration

  • Library:
  • Robotics System Toolbox / Manipulator Algorithms


The Joint Space Mass Matrix block returns the joint-space mass matrix for the given robot configuration (joint positions) for the Rigid body tree robot model.



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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.


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Joint-space mass matrix for the given robot configuration, returned as a positive-definite symmetric matrix.


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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