### Can V-REP simulate a robot dynamics equation?

Posted:

**11 Apr 2017, 08:34**Hi~

The differential equations that describe the movement of a robotic arm can be written in the following form:

M(q) * q_ddot + C(q,q_dot) * q_dot + G(q) = τ

Can the inertia matric M , coriolis and centripedal forces matrix C and the gravity vector G be set in V-REP?

And then I use MATLAB to input a torque which is a function of time.

According to the above equation,the robot in V-REP will move.

Finally I can record the joint angle by the function vrep.simxGetJointPosition() in MATLAB.

The differential equations that describe the movement of a robotic arm can be written in the following form:

M(q) * q_ddot + C(q,q_dot) * q_dot + G(q) = τ

Can the inertia matric M , coriolis and centripedal forces matrix C and the gravity vector G be set in V-REP?

And then I use MATLAB to input a torque which is a function of time.

According to the above equation,the robot in V-REP will move.

Finally I can record the joint angle by the function vrep.simxGetJointPosition() in MATLAB.