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mech_pdf.book Page 13 Tuesday, February 1, 2005 1:57 PM Finding Forces from Motions CS1 of B2 is rotated -15 degrees relative to CS1 of B1, i.e., it is perpendicular to the World coordinate system. Using Actuator Blocks to Specify the Initial States The following diagram shows the use of Joint Actuator blocks to specify the initial kinematic state. The system is modeled in mech_dpend_invdyn2. Using the actuators to specify the displacement slightly simplifies the configuration of the Body blocks. Specifying the Motion — Measuring and Using the Computed Torques In either model, the Joint Actuator blocks connected to the Joint blocks specify that the upper and lower joints accelerate at two distinct rates, π/2 and -π/4 radians/second2, respectively. Sensor blocks connected to To Workspace blocks 8-13
