Joint-space mass matrix for robot configuration
Robotics System Toolbox / Manipulator Algorithms
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.
Config— Robot configuration
MassMatrix— Joint-space mass matrix for configuration
Joint-space mass matrix for the given robot configuration, returned as a positive-definite symmetric matrix.
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