Joint torques that compensate gravity
Robotics System Toolbox / Manipulator Algorithms
The Gravity Torque block returns the joint torques required to hold the robot at a given configuration with the current Gravity setting on the Rigid body tree robot model.
Config— Robot configuration
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
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
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