Simulink Product Block Dimension Issue.

2 次查看（过去 30 天）
Mike Leijten
Mike Leijten 2021-10-11
回答： Luca 2021-11-8
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

请先登录，再回答此问题。

采纳的回答

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

更多回答（1 个）

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

类别

在 Help Center 和 File Exchange 中查找有关 General Applications 的更多信息

标签

产品


版本

R2021a

Community Treasure Hunt

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

Start Hunting!

Translated by