Model rigidBodyTree motion given task-space reference inputs. \n \nThe block accepts a [4x4] homogeneous transformation

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Model rigidBodyTree motion given task-space reference inputs. \n \nThe block accepts a [4x4] homogeneous transformation matrix representing the desired end effector pose, a 6-element vector representing the desired velocities, and an optional [6xM] matrix of external forces for the M bodies in the associated Rigid body tree. The block outputs [Nx1] vectors of joint positions (rad or m), joint velocities (rad/s or m/s) and joint accelerations (rad/s^2 or m/s^2) for the N number of non-fixed joints in the associated Rigid body tree. \n \nSpecify the Rigid body tree parameter as a rigidBodyTree object stored as a variable. Specify the end effector name or select the body from the specified Rigid body tree. Tune the proportional and derivative gains for the desired response. Set the initial conditions for the joint positions and velocities.

Model rigidBodyTree motion given joint-space reference inputs. \n \nThe block accepts [Nx1] vectors of reference joint configurations (rad or m), reference joint velocities (rad/s or m/s) and reference joint accelerations (rad/s^2 or m/s^2) for the N number of non-fixed joints in the associated Rigid body tree. The block outputs [Nx1] vectors of joint positions (rad or m), joint velocities (rad/s or m/s) and joint accelerations (rad/s^2 or m/s^2). \n \nSpecify the Rigid body tree parameter as a rigidBodyTree object stored as a variable. Set the Motion type parameter using the drop-down. Depending on the motion type, specify additional parameters. Set the initial conditions for the joint positions and velocities.


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