Robot models simulate the kinematic and dynamic properties of manipulator
robots and other rigid body systems. The models are
rigidBodyJoint elements with
joint transformations and inertial properties.
Access predefined models for certain commercial robots, such as
KINOVA™ and KUKA™, using the
Import existing UDRF or Simscape™
Multibody™ models using
Rigid Body Tree Models
|Center of mass position and Jacobian|
|Compose external force matrix relative to base|
|Joint accelerations given joint torques and states|
|Geometric Jacobian for robot configuration|
|Joint torques that compensate gravity|
|Required joint torques for given motion|
|Joint-space mass matrix|
|Joint torques that cancel velocity-induced forces|
Kinematics and Dynamics
|Forward Dynamics||Joint accelerations given joint torques and states|
|Inverse Dynamics||Required joint torques for given motion|
|Get Jacobian||Geometric Jacobian for robot configuration|
|Get Transform||Get transform between body frames|
|Gravity Torque||Joint torques that compensate gravity|
|Joint Space Mass Matrix||Joint-space mass matrix for robot configuration|
|Velocity Product Torque||Joint torques that cancel velocity-induced forces|
Explore the structure and specific components of a rigid body tree robot model.
This example goes through the process of building a robot step by step, showing you the different robot components and how functions are called to build it.
Use the Denavit-Hartenberg (DH) parameters of the Puma560® manipulator robot to incrementally build a rigid body tree robot model.
This topic details the different elements, properties, and equations of rigid body robot dynamics.Robot dynamics are the relationship between the forces acting on a robot and the resulting motion of the robot.
Generate torques to balance an endpoint force acting on the end-effector body of a planar robot.
Set up a UR10 robot model to perform co-simulation between Gazebo and Simulink™.
Simulate control of a robotic manipulator using co-simulation between Simulink and Gazebo.