Velocity Product Torque
Joint torques that cancel velocity-induced forces
Robotics System Toolbox / Manipulator Algorithms
The Velocity Product Torque block returns the torques that cancel the velocity-induced forces for the given robot configuration (joint positions) and joint velocities for the Rigid body tree robot model.
Config — Robot configuration
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
functions inside a Constant or MATLAB
JointVel — Joint velocities
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.
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) |
Robot model, specified as a
rigidBodyTree object. You
can also import a robot model from an URDF (Unified Robot Description
Formation) file using
The default robot model,
twoJointRigidBodyTree, is a
robot with revolute joints and two degrees of freedom.
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™.
Introduced in R2018a