taskSpaceMotionModel
Description
ThetaskSpaceMotionModel
object models the closed-loop task-space motion of a manipulator, specified as a rigid body tree object. The motion model behavior is defined by theMotionTypeproperty.
For more details about the equations of motion, seeTask-Space Motion Model.
Creation
Syntax
Description
creates a motion model for a default two-joint manipulator.motionModel
= taskSpaceMotionModel
creates a motion model for the specifiedmotionModel
= taskSpaceMotionModel("RigidBodyTree",tree)rigidBodyTree
object.
sets additional properties specified as name-value pairs. You can specify multiple properties in any order.motionModel
= taskSpaceMotionControlModel(Name,Value)
Properties
Object Functions
derivative |
Time derivative of manipulator model states |
updateErrorDynamicsFromStep |
Update values ofNaturalFrequency andDampingRatio properties given desired step response |
例子
References
[1] Craig, John J.Introduction to Robotics: Mechanics and Control. Upper Saddle River, NJ: Pearson Education, 2005.
[2] Spong, Mark W., Seth Hutchinson, and Mathukumalli Vidyasagar.Robot Modeling and Control. Hoboken, NJ: Wiley, 2006.
Extended Capabilities
Version History
Introduced in R2019b