Spherical Joint Stabilization in SimMechanics

Question

Andrew Sol 2023-2-21

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https://ww2.mathworks.cn/matlabcentral/answers/1916305-spherical-joint-stabilization-in-simmechanics

编辑： Andrew Sol 2023-3-12

Cube.slx

I imported a cube from SolidWorks. Its coordinate system is aligned with the center of the common coordinate system. The cube can rotate omnidirectionally.

In solidworks, this effect is noticeable only when I rotate the cube with the computer mouse.

In SimMechanics (when I run the imported model), the cube simply rotates freely around one of the axes.

I tried to play around with the settings of the spherical joint (dumping, stiffness, target state, etc.), but I couldn't get it fixed or control its position. I would like to try to control its speed and position on each of the XYZ axes separately.

Teach me how to stabilize spherical joints please!

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Answer 1

Steve Miller 2023-2-27

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If you double-click on the Spherical Joint and expand the "Actuation" section, you can set an input to be provided by torque. If you measure the angle you wish to control, you can set up a PI controller to control that angle.

Alternatively, you could use a Gimbal Joint. This will permit motion actuation of the three rotational degrees of freedom - no controller is required.

--Steve

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Andrew Sol 2023-3-12

编辑：Andrew Sol 2023-3-12

Thanks for the reply, Steve! A spherical joint is more difficult to control than a single degree of freedom joint. In the first case, this immediately requires 3 control systems for each coordinate (judging by the experiments that I carried out) with PI controllers. I have not yet decided one more question: what pairing in SolidWorks needs to be done so that when importing into SimMecanics, exactly the Gimbal Joint appears?

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