robotArm

dynamic equations for the robot arm benchmark model

Contents

Syntax

f = robotArm(x, u, w)

Description

Dynamic equations for the robot arm 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, cart, doubleIntegrator


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