Simulink single-link robot arm model example.

6 ビュー (過去 30 日間)
Mat
Mat 2014 年 1 月 27 日
コメント済み: Chuong Nguyen 2016 年 4 月 11 日
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.
What I'm refering to is this example.
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 件のコメント
Chuong Nguyen
Chuong Nguyen 2016 年 4 月 11 日
-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.

サインインしてコメントする。

サインインしてこの質問に回答する。

回答 (0 件)

カテゴリ

Help Center および File Exchange で Robotics についてさらに検索

タグ

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by