What does joint.MotionSubspace do?

It's in the robotics toolbox, I am trying to understand how exactly MATLAB calculates dynamics (and it's fascinating), so I went deep into the internal scripts.

So, please can someone tell me what does "joint.MotionSubspace" do?

[Haisam Khaled]

I found that it assigns a 6x1 matrices but what do those represent actually?

[Gokul Nath S J]

Hi Haisam Khaled,

Can you kindly give us more information and the also mention which example are you trying to understand.

Answer 1

[Muskan]

Hi Haisam,

As per my understanding of the question "joint.MotionSubspace" is a class in MATLAB's Robotics System Toolbox that represents the motion subspace of a joint in a robot manipulator.

You can refer to the following documentation of 'Joint-Space Motion Model' to know more it:

Joint-Space Motion Model - MATLAB & Simulink (mathworks.com)

Thanks

[Haisam Khaled]

yup this is it. thank you so much