Automaticly change of actuation of joints in Simscape multibody.

Question

Felix Hund 2022-4-26

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https://ww2.mathworks.cn/matlabcentral/answers/1705625-automaticly-change-of-actuation-of-joints-in-simscape-multibody

编辑： J Chen 2022-5-3

Hello everybody,

I have exported a CAD model with several joints I'd like to actuate. Since there are a lot of, I'm searching for a way to to this automaticly/scriptbased. Simply I just don't want to change the actuation by click but by code.

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Answer 1

J Chen 2022-5-3

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https://ww2.mathworks.cn/matlabcentral/answers/1705625-automaticly-change-of-actuation-of-joints-in-simscape-multibody#answer_956435

编辑：J Chen 2022-5-3

Use name = gcb to get block names (select a block first)
Use get_param(name,'DialogParameters') to get parameter names. The parameter names you're looking for should contain TorqueActuationMode and MotionActuationMode as part of the names (e.g., RzTorqueActuationMode)
Use set_param(name,'RzTorqueActuationMode','ComputedTorque') or set_param(name,'RzTorqueActuationMode','InputTorque') to specify the torque mode.
Use a similar command to specify the RzMotionActuationMode as ComputedMotion or InputMotion