Inverse Dynamics of robot

Question

Claude Mathias 2023-7-14

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1996048-inverse-dynamics-of-robot

回答： Yash 2023-8-24

I have created a 2R robot in Autodesk inventor and imported it into simulink envirnment through .xml file. I noticed a strange thing with the model.

The 2R robot moves even if i input the torque as 0. Ideally robot shall collapse if input torque is zero.I am seeking help from experts here on what could be the reason for robot movement even if torque is zero?

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Yash 2023-8-24

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1996048-inverse-dynamics-of-robot#answer_1292992

Hi,

I understand that your robot is moving even for zero input torque. One of the possible reasons is that the robot has initial conditions or velocities that cause it to move, even with zero torque input. Verify that the initial conditions for the robot's position, velocity, and acceleration are correctly set.

Hope it helps!