How can I solve this problem?

2017 11 28
2 个回答
回答已采纳
更新时间：2017 12 3
1 次查看（30 天）

0 个投票

I am applying three different motion input to three different joints. and simulink is giving this error.

请先登录，再回答此问题。

 采纳的回答

Birdman
Birdman 2017-11-28

0 个投票

I am not sure, but please make sure that number of AUTOMATICALLY COMPUTED and PROVIDED BY INPUT motions are equal provided by all joints in your model.

29 个评论
显示 27更早的评论 隐藏 27更早的评论

bayram özmen
bayram özmen 2017-11-29
All input values must be equal?
Birdman
Birdman 2017-11-29
No, you said that you apply motion and torque to some joints. But also, torques have to be automatically computed for the ones you apply motion and vice versa.
bayram özmen
bayram özmen 2017-11-29
I got it. Thank you so much
Birdman
Birdman 2017-11-29
If the answer is helpful, can you please accept it?
bayram özmen
bayram özmen 2017-11-29
Yes I can. But I want to ask one more question. I am applying a motion to one joint. but the other ones behave like this joint. why happened like this? I want to apply different motion for each joint. how can ı do this?
Birdman
Birdman 2017-11-29
Then, you need to set actuation as Motion and you need to automatically compute torques.
bayram özmen
bayram özmen 2017-11-29
yes I did like that. please can you investigate my simulink model? ı will achieve a constant angle but ı need a motion that have angular displacement angular velocity and angular acceleration. then they will be entered to one simulink to converter. Which units I should choose? Do you think my algoritma is correct?
Birdman
Birdman 2017-11-29
As units, I think rad,rad/s,rad/s^2 are allowed. Your algorithm looks okay but maybe the differential equations can not be solved for the inputs you provide. Therefore make sure to give reasonable inputs to your model. That's all I can say without looking at your model on Simulink.
bayram özmen
bayram özmen 2017-11-29
You are so helpful. thank you so so much for your interest. I adjusted the unit as rad. But the results of my kinematic equations are constand value as rad. I applied this to achieve a motion in figure below. But ı applied to joint this. joint did not motion. just stay that position angle. ı want to stay that position by acting. Thats why what should I apply as input?
Birdman
Birdman 2017-11-29
But if you apply position command, then it will automatically go to that position and stay.
bayram özmen
bayram özmen 2017-11-29
right I want to stay in that position. But I want to rotate that piece that connect to motor.(circle in figure)
Birdman
Birdman 2017-11-29
Oh, you are trying to implement a ball-plate system. That's nice :)
Well, I suggest you to use spherical joint for that connection point to the motor. Spherical joints can rotate in three axis but do not change their positions.
bayram özmen
bayram özmen 2017-11-29
But spherical joint only one torque input. How can I set angle that I want? Also you mean these spherical joints that connect to motorkol in figure.
Birdman
Birdman 2017-11-29
The motions will be automatically computed once you apply the reasonable torque values.
bayram özmen
bayram özmen 2017-11-29
you try to tell me, you apply to torque for desired angle. Final position will be desired angle. ı understand true? But ı should apply torque input to revolute joint or spherical joint?
Birdman
Birdman 2017-11-29
Apply torque input to spherical joint. If you constructed the model reasonable, then correct values for motions will be automatically computed.
bayram özmen
bayram özmen 2017-11-29
ıt ıs perfect. But ı dont know the necessary torque value for desired position. What should I do?
Birdman
Birdman 2017-11-29
Well, you need to find it empirically, I mean by trying.
bayram özmen
bayram özmen 2017-11-29
well, ı will do like that. but ı do not want to one motor. and ı am applying torque to one motor's spherical joint. But other pieces motion. How can I fix one motor when the others are acting?
Birdman
Birdman 2017-11-29
What do you mean by fix?
bayram özmen
bayram özmen 2017-11-29
I mean ı have three motor but ı do not want to move of one motor but ı want to move the other two motor. However ı am appling input one motor and all motors are moving?
Birdman
Birdman 2017-11-29
If their constraint is satisfied, they may move according to kinematic calculations.
bayram özmen
bayram özmen 2017-11-29
Absolutely you are right. Well Can I apply this method that into figure? Firstly ı find the actuation torque for desired angle and the ı can apply may be. I am not sure?
Birdman
Birdman 2017-11-29
Yes, this might work.
bayram özmen
bayram özmen 2017-11-29
I think ıt will work. Also I have a last question. If actuation torque is not a constant, for example ıf ıt is like sinus. How can I apply that torque? I am really very grateful. :)
Birdman
Birdman 2017-11-29
There is Sine Wave block in Sources library in Simulink. You may use it.
bayram özmen
bayram özmen 2017-11-29
Thank you so much.If I have a question can I ask to you directly? :)
Birdman
Birdman 2017-11-29
Yes but also open a question as well since other people might answer.
bayram özmen
bayram özmen 2017-11-29
sure. thank you so much again. have a nice day

请先登录，再进行评论。

更多回答（1 个）

bayram özmen
bayram özmen 2017-12-3

0 个投票

Hi. I am just dealing with this platform. I know how many angle ıt will move so ı solved the necessity angle for that motion in desired angle by inverse kinematic equation. How can I do this? Which block I apply for desired angle? revolute joint block are there between motor and piece that need to move.

类别

在 帮助中心 和 File Exchange 中查找有关 Modeling 的更多信息

标签

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by