How to constrain the rotation of a joint in SimMechanics 2nd generation
2 次查看(过去 30 天)
显示 更早的评论
I'm working on modeling a robot and need to limit the ranges of my joints. currently the simulation seems to hit singularities and jump out of the intended work-space. Thus my thought is I could sidestep the problem by constraining out any ranges of motion the robot will not traverse anyway. Previously I've used saturation blocks to limit signals but am having no luck implementing anything similar with this model. This is the first time I've worked with SimMechanics Multibody so I'm probably missing something basic here but any help is appreciated!
0 个评论
回答(1 个)
Pouya Jamali
2017-1-22
Hi Christopher,
If you haven't found a solution yet, I would suggest you have a look into the 'Rotational Hard Stop' block in SimScape. In order to employ that block you would need to convert your simulink signals to physical signals and vice verse using S to PS and PS to S converter blocks. Feel free to use the example I have attached for you.
Good luck with Matlab,
Pouya
1 个评论
Dimple Prakash
2021-11-29
Thank you for your answer !!!
It was helpful..Could you please explain about the Hardstop block in your model?
另请参阅
类别
在 Help Center 和 File Exchange 中查找有关 Assembly 的更多信息
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!