# robotArm

dynamic equations for the robot arm benchmark model

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also

## 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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