Simscape revolute joint torque actuation issue

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Ahmet
Ahmet 2025-5-16
评论： Ahmet 2025-6-21
Hello,
I have a simscape model with two revolute joints. Firstly, I have generated angular postions for both of those joints in order for the end effector to follow straight line. I record the torque needed to move each joit in workspace. Then I set joints to be actuated by torques. As input torque I specify torques that I have previously recorded but then I do not get wanted motion. What can I be doing wrong?
Before first run of slx file "test_1_1.m" needs to be run. nce the first simulation ends I create two variables that reprenet torque. Those are variables a1 and b1. They are made from out variable that comes from Simulink (%a1=out.torque_J1; %b1=out.torque_21;)
Best regards
  2 个评论
Yifeng Tang
Yifeng Tang 2025-6-4
I have only a hypothesis here.
If I comment out the 2nd joint and arm, so it's a simple arm around the base, the recorded torque will be able to drive the single arm to very high precision and follow the original position. I suspect the two-joint system is a bit too sensitive to any integration tolerance/error and a recorded torque will cause the motion to "drift" from the original trace. Maybe similar to how a double-pendulum can be chaotic?
Ahmet
Ahmet 2025-6-21
Hi Yifeng Tang and thank you for taking look. I was hoping I might be doing something wrong.

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