gravityTorque

Mass — Mass of the rigid body in kilograms.

CenterOfMass — Center of mass position of the rigid body, specified as a vector of the form [x y z]. The vector describes the location of the center of mass of the rigid body, relative to the body frame, in meters. The centerOfMass object function uses these rigid body property values when computing the center of mass of a robot.

Inertia — Inertia of the rigid body, specified as a vector of the form [Ixx Iyy Izz Iyz Ixz Ixy]. The vector is relative to the body frame in kilogram square meters. The inertia tensor is a positive definite matrix of the form:

The first three elements of the Inertia vector are the moment of inertia, which are the diagonal elements of the inertia tensor. The last three elements are the product of inertia, which are the off-diagonal elements of the inertia tensor.

Gravity — Gravitational acceleration experienced by the robot, specified as an [x y z] vector in m/s². By default, there is no gravitational acceleration.

DataFormat — The input and output data format for the kinematics and dynamics functions, specified as "struct", "row", or "column".

$$M(q)$$ — is a joint-space mass matrix based on the current robot configuration. Calculate this matrix by using the massMatrix object function.

$$C(q,\dot{q})$$ — are the Coriolis terms, which are multiplied by $$\dot{q}$$ to calculate the velocity product. Calculate the velocity product by using by the velocityProduct object function.

$$G(q)$$ — is the gravity torques and forces required for all joints to maintain their positions in the specified gravity Gravity. Calculate the gravity torque by using the gravityTorque object function.

$$J(q)$$ — is the geometric Jacobian for the specified joint configuration. Calculate the geometric Jacobian by using the geometricJacobian object function.

$$f_{Ext}$$ — is a matrix of the external forces applied to the rigid body. Generate external forces by using the externalForce object function.

$$\tau$$ — are the joint torques and forces applied directly as a vector to each joint.

$$q,\dot{q},\ddot{q}$$ — are the joint configuration, joint velocities, and joint accelerations, respectively, as individual vectors. For revolute joints, specify values in radians, rad/s, and rad/s², respectively. For prismatic joints, specify in meters, m/s, and m/s².