robot
dynamic equations for the robot benchmark model
Contents
Syntax
Description
Dynamic equations for the robot benchmark model. The benchmark represents a planar three degree-of-freedom robot with two joints. The system states are the two joint angles and the two joint angular velocities. The input to the system are the two joint torques.
Input Arguments
x |
system states x (dimension: [nx,1]) |
u |
control inputs u (dimension: [nu,1]) |
w |
disturbances w (dimension: [nw,1]) |
Output Arguments
f |
value of the dynamic function = time derivative of x |
See Also
car, massSpringDamper, doubleIntegrator
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