Joint Space Mass Matrix

Joint-space mass matrix for robot configuration

• Library:

• Robotics System Toolbox / Manipulator Algorithms

• 

Description

The Joint Space Mass Matrix block returns the joint-space mass matrix for the given robot configuration (joint positions) for the Rigid body tree robot model.

Ports

Input

Config — Robot configuration

vector

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 homeConfiguration or randomConfiguration functions inside a Constant or MATLAB Function block.

Output

MassMatrix — Joint-space mass matrix for configuration

positive-definite symmetric matrix

Joint-space mass matrix for the given robot configuration, returned as a positive-definite symmetric matrix.

Parameters

Rigid body tree — Robot model

twoJointRigidBodyTree (default) | RigidBodyTree object

Robot model, specified as a rigidBodyTree object. You can also import a robot model from an URDF (Unified Robot Description Formation) file using importrobot.

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) | Code generation

• 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 Interpreted execution.

Tunable: No

Model Examples

Get Mass Matrix for Manipulators in Simulink

Calculate the mass matrix for a robot manipulator using a rigidBodyTree model. In this example, you define a robot model and robot configurations in MATLAB® and pass them to Simulink® to be used with the manipulator algorithm blocks.

Open Script

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2018a