Simulink single-link robot arm model example.
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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.
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
2016-4-11
-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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2016-4-11
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