how make changeable joint limits in simscape ?

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Dmitriy Ogureckiy
Dmitriy Ogureckiy 2022-12-31
回答： Steve Miller 2023-1-9
I making robot model in simscape multibody and I want make joint limits to be changeable,i.e. I can set up joint limits from some constant in the workspace. The reason why I need is because limits of the different joint depends on each other.
I have this configuration of the robot, hope this help understand my problem:

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回答（1 个）

Steve Miller
Steve Miller 2023-1-9
You will need to apply the joint limits as an external force. Measure the positions of each part/joint, calculate when the force should resist motion, and apply it at the respective joint.
--Steve

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