Hi Hadi,
I understand that you are experiencing difficulties with the inverse kinematics of a CAD model imported from 'PTC OnShape' into MATLAB Simulink. It seems that when you provide an XYZ position for the model to move to, it goes to a location outside the bounds of the possible workspace.
To address this issue, refer to the following steps:
- Validate the CAD model: Ensure that the imported CAD model accurately represents the geometry and dimensions of the physical system which you want to model.
- Verify the coordinate systems: Ensure that the XYZ position you provide in MATLAB Simulink corresponds correctly to the CAD model's coordinate system.
- Check joint limits and constraints: Review the joint limits and constraints in the 'rigidbodytree' of your model. Incorrectly defined joints can lead to unexpected behavior during inverse kinematics calculations.
- Adjust the solver settings: Experiment with different solver settings in the inverse kinematics solver block to improve the accuracy and convergence of the solution.
- Consider workspace limitations: If the desired XYZ position is outside the reachable workspace of the model, it may result in unexpected behaviour. Ensure that the target position is within the feasible range of motion for the system.
- Debug and visualize: Use MATLAB's debugging capabilities to inspect intermediate results and identify any potential issues in the inverse kinematics calculations. Visualize the model's behaviour using 'plots' or 'animation' tools to gain further insights into the problem.
For more information, you can refer to the following -
- Modify the CAD Model Virtual World
- How to choose a Solver in Simulink
- Debugging and Analysis: Check out the 'Debugging' topic in this documentation.
