Model rigid body tree motion given joint-space inputs
Robotics System Toolbox / Manipulator Algorithms
The Joint Space Motion Model block models the closed-loop joint-space
motion of a manipulator robot, specified as a rigidBodyTree
object. The motion model behavior is defined by the Motion Type
parameter.
[1] Craig, John J. Introduction to Robotics: Mechanics and Control. Upper Saddle River, NJ: Pearson Education, 2005.
[2] Spong, Mark W., Seth Hutchinson, and Mathukumalli Vidyasagar. Robot Modeling and Control. Hoboken, NJ: Wiley, 2006.