Simulink Product Block Dimension Issue.

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Mike Leijten
Mike Leijten 2021 年 10 月 11 日
回答済み: Luca 2021 年 11 月 8 日
Hi everyone,
I have created a simulink model (shown below) to determine robot joint velocities () for given robot end-effector velocities () by using the following relation:
The pseudo-inverse of the jacobian (called Jpinv in the model) is fed to a product block to be post-multiplied with the joint velocities (called pdot) to produce the end-effector velocites (called qdot).
However I get the following error messages:
Why doesn't the Product block recognize the dimensions of the Jpinv matrix? Because Simulink states [7x6] at the exit of the Function block and then suddenly loses this information when it enters at the Product block? And from Linear Algebra I know that a [7x6] matrix times a [6x1] vector should yield a [7x1] matrix of joint velocities qdot.
Does anybody know how I can fix this issue to get the correct multiplication result?
Thanks in advance,
Mike

採用された回答

Jonas
Jonas 2021 年 10 月 11 日
You need to set the 'Multiplication' option of your Product block to 'Matrix(*)'.

その他の回答 (1 件)

Luca
Luca 2021 年 11 月 8 日
What blocks do you need to visualize the product of a pressure for a surface and obtain a force?

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