simscape.multibody.SphericalPrimitiveActuationTorque Class

Namespace: simscape.multibody

Construct actuation torque for spherical joint primitive

Since R2024a

Description

Use an object of the simscape.multibody.SphericalPrimitiveActuationTorque class to construct an actuation torque to apply to a spherical joint primitive.

Class Attributes

Sealed	true
ConstructOnLoad	true
RestrictsSubclassing	true

For information on class attributes, see Class Attributes.

Creation

Description

torque = simscape.multibody.SphericalPrimitiveActuationTorque constructs an actuation torque of [0 0 0] N*m.

torque = simscape.multibody.SphericalPrimitiveActuationTorque(value) constructs an actuation torque with the specified value. value must be a simscape.Value object that represents a 3-by-1 or 1-by-3 array with a unit of torque. The torque is applied between the base and follower frames and resolved in the follower frame.

Examples

Create Actuation Torque for Spherical Joint Primitive

• Create an actuation torque and specify its value as [3 4 5] N*m.

  torque = simscape.multibody.SphericalPrimitiveActuationTorque(...
                                  simscape.Value([3 4 5],"N*m"))
  
  

  torque = 
  
    Value: [3 4 5] : N*m

Version History

Introduced in R2024a