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
twoJointRigidBodyTree (default) |
Simulate using — Type of simulation to run
Interpreted execution (default) |
Interpreted execution— Simulate model using the MATLAB® interpreter. This option shortens startup time but has a slower simulation speed than
Code generation. In this mode, you can debug the source code of the block.
Code generation— Simulate model using generated C code. The first time you run a simulation, Simulink® generates C code for the block. The C code is reused for subsequent simulations, as long as the model does not change. This option requires additional startup time, but the speed of the subsequent simulations is comparable to
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
- Forward Dynamics | Inverse Dynamics | Get Jacobian | Joint Space Mass Matrix | Velocity Product Torque