what is the difference between mux and vector concatenate?

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hadi 2011-11-10

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I want to input the joint angle, joint angular velocity and joint angular acceleration to the joint actuator, how could I specify each signals for each of them?!

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Kaustubha Govind 2011-11-10

hadi: Please fix the title of your question. It seems unrelated to the body. If there are related, please describe how.

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Answer 1

Guy Rouleau 2011-11-11

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Look at the section "Stabilizing Numerical Derivatives in Actuation Signals" in this page to see how to compute velocity and acceleration based on position

http://www.mathworks.com/help/toolbox/physmod/mech/ug/f2-117031.html

Then combine the into a vector using either the vector concatenate

http://www.mathworks.com/help/toolbox/simulink/slref/vectorconcatenate.html

or the Mux:

http://www.mathworks.com/help/toolbox/simulink/slref/mux.html

The difference between Vector Concatenate and Mux is in the way the memory is handled under the hood. VC copies the element into a contiguous piece of memory, while mux is virtual, it is only a visual representation, it does not copy the components into one contiguous piece of memory.

In your case, if you care only about simulation you will not see a difference.