Simulation step size in simulink is very small and takes really long to run. Unable to solve it
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Hello, I am trying to model the interaction between a robotic structure and a human hand. Here's a brief description of my system. All the blocks in yellow represent my robot and associated FK equations while the blocks in blue represent my human hand model and corresponding FK equations. I have a constraint in that I cannot model the dynamics directly and need to use only a second order model to approximate the behavior. Further, the robot and the Human are coupled by a large stiffness and the corresponding interaction force is recorded. It is a 1 dof robot coupled to a 1 dof human joint.
In the image below X=[f1(q),f2(q),f3(q)]^T; X_h=[f4(q_h),f5(q_h),f6(q_h)]^T; J_MM=[f7(q),f8(q),f9(q)]^T;J_h_t=[f10(q_h),f11(q_h),f12(q_h)]^T;
Now for the problem I'm having: The simulation step size is automatically chosen to be extremely small (order of e-5). all my FK and Jacobian equations are simple algebraic equations in a single variable and when i evaluate them in matlab, I am able to run 10000 evaluations (using a for loop) in 0.05s.
I am very new to simulink and do not have much experience. so any help regarding how I can solve this is very much appreciated!
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1487997/image.png)
![HEBI Block](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1488002/HEBI%20Block.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1488007/image.png)
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Sam Chak
2023-9-20
It's not bad for a beginner in Simulink to create a rather sophisticated model using mostly user-defined MATLAB Function blocks and feedback loops. If the Simulink model takes a long time to run, open the Model Configuration Pane: Solver and select the ode15s solver.
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Sam Chak
2023-9-21
Some sophisticated systems take longer to simulate. If you identify that your system is stiff, then change the solver to ode15s.
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