Task Space Motion Model
Model rigid body tree motion given task-space inputs
Robotics System Toolbox / Manipulator Algorithms
The Task Space Motion Model block models the closed-loop task-space motion
of a manipulator, specified as a
rigidBodyTree object. The motion model behavior
is defined using proportional-derivative (PD) control.
For more details about the equations of motion, see Task-Space Motion Model.
refPose — End-effector pose
Homogenous transformation matrix representing the desired end effector pose, specified in meters.
refVel — Joint velocities
6-element vector representing the desired linear and angular velocities of the end effector, specified in meters per second and radians per second.
Rigid body tree — Rigid body tree
twoJointRigidBodyTree object (default) |
Robot model, specified as a
RigidBodyTree object. You can also
import a robot model from an URDF (Unified Robot Description Formation) file using
The default robot model,
twoJointRigidBodyTree, is a robot with
revolute joints and two degrees of freedom.
End effector — End effector body
This parameter defines the body that will be used as the end effector, and for which
the task space motion is defined. The property must correspond to a body name in the
rigidBodyTree object of the property.
Click Select body to select a body from the
rigidBodyTree. If the
rigidBodyTree is updated
without also updating the end effector, the body with the highest index is assigned by
Proportional gain — Proportional gain for PD Control
500*eye(6) (default) | 6-by-6 matrix
Proportional gain for proportional-derivative (PD) control, specified as a 6-by-6 matrix.
Derivative gain — Derivative gain for PD Control
100*eye(6) (default) | 6-by-6 matrix
Derivative gain for proportional-derivative (PD) control, specified as a 6-by-6 matrix.
Show external force input — Display
off (default) |
Click the check-box to enable this parameter to input external forces using the
Simulate using — Type of simulation to run
Interpreted execution (default) |
Interpreted execution— Simulate model using the MATLAB® interpreter. For more information, see Simulation Modes (Simulink).
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.
 Craig, John J. Introduction to Robotics: Mechanics and Control. Upper Saddle River, NJ: Pearson Education, 2005.
 Spong, Mark W., Seth Hutchinson, and Mathukumalli Vidyasagar. Robot Modeling and Control. Hoboken, NJ: Wiley, 2006.