Direct Drive¶
Introduced in MORe v3.1
Directly feeds through the force command to the coupling link.
Block diagram¶
Signal |
Description |
|---|---|
\(u_f\) |
Filter output |
\(y\) |
Motor output. Force acting on coupling link. |
Coupling¶
Link selection to represent the motor. The controller output (force/torque) will be applied to the selected link.