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 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.

Simulink single-link robot arm model example.

Mat

2014 1 月 27

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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.

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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.

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Simulink single-link robot arm model example.

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