manipulator attached at platform is too much spinning(simscape environment)

Question

서호 이 2023-5-8

回答： Aditya 2024-6-25

Hello

I made a manipulator attaced at platform.

Although I'm not construct controller to manipulator yet, I'm wondering the motion of manipulator made by plaform is phisycally right.

I give only roll(x-axis angular) motion to the platform, and the manipulator is spinning too much!

Please check and thank you for your help.

Answer 1

Aditya 2024-6-25

Here are a few things you might want to check:

Inertia and Mass Properties: Ensure that the inertia and mass properties of the manipulator are correctly defined. Incorrect values can lead to unrealistic motion.
Joint Constraints: Verify that the joints connecting the manipulator to the platform are properly constrained. If the joints are too loose or have incorrect parameters, it can result in excessive spinning.
Damping and Friction: Check if there is sufficient damping and friction in the joints. Lack of damping can cause the manipulator to oscillate or spin excessively.
Simulation Parameters: Ensure that the simulation parameters, such as the solver settings and time step, are appropriately configured. Sometimes, numerical instability can cause unrealistic behavior.
External Forces and Torques: Make sure that there are no unintended external forces or torques acting on the manipulator.
Platform Motion: Double-check the motion profile of the platform. If the roll motion is too aggressive or not smooth, it can induce excessive motion in the manipulator.