Simulink single-link robot arm model example.
3 views (last 30 days)
Show older comments
Hello.
I would like to ask you guys, if you may, to clarify to me the single-link robot arm motion equation presented in Simulink, on Mathworks site and in their toolbox guides.
where u is supposed to be the torque supplied by the DC motor and ϕ is the angle of the arm.
It may sound stupid, but could any of you explain from the beginning how this equation took its final shape?
Thank you in advance, Mat.
1 Comment
Chuong Nguyen
on 11 Apr 2016
-10 (N.m) is the Gravity Force, assuming the arm length is 1m.The torque created by gravity is -10*sin(phi) .
-2 is the friction coefficient. -2\phi_dot is the moment friction.
Answers (0)
See Also
Categories
Find more on Robotics in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!