Defining Motion Type in jointSpaceMotionModel in Robotics Systems Toolbox

Hello everyone!

I am trying to simulate the kinovaGen3 robot using the Robotics Systems Toolbox. I created a jointSpaceMotionModel and am trying to control the motion of the robot with ways other than the built-in computed-torque controller (default setting). According to the documentation you can specify the MotionType as either "computed-torque" or "PD control" or "individual joint control".

How can I implement my own user-defined MotionType? In particular, how can I implement a user-defined controller?

Thank you

Answer 1

[Karsh Tharyani]

Hi Mohammad,

Currently only a certain set of pre-defined MotionTypes are supported. I have conveyed your request to support user-defined motion types to the relevant development team and we hope to address it in a future release of MATLAB.

It would also be great if you could provide more details of your use-case to our Technical Support team in order to aid you better.

Best,

Karsh

[Mohammad Alsalti]

That's perfect! thank you for the prompt response.