Rigidly connected port error with Simscape Multibody Contact Forces Library

Question

Sebastian Castro 2018-1-23

4
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https://ww2.mathworks.cn/matlabcentral/answers/378561-rigidly-connected-port-error-with-simscape-multibody-contact-forces-library

评论： Vishal Naik 2024-6-22

Adding blocks from the Simscape Multibody Contact Forces Library to a new model gives the following error message:

"External Force and Torque External_Force_and_Torque_PlaB has its follower port rigidly connected to the world frame; it has no effect. You can configure this diagnostic in the Simscape Multibody Configuration Parameters dialog."

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superman 2020-9-9

simRobot7270.zip

Dear, sir. I am doing biped walking simulation by Matlab2017b。 When i use four sphere to plane contact models on flat foot of the biped robot, the biped flied off the ground at the beginning of simulation, as shown in the attachment. The robot mass is 74 kg. The contact sphere radius is 0.01 m. The contact stiffness and damping are 90000 and 4000. Could you give me some advices? Thanks very much. I am looking forward to your reply.

Madhav rijal 2021-3-17

I have applied spatial connection force to sphere of the leg. I am not able to model thr ground. How do you do it. I have created a brick block and connected it to it.but Spatial Contact Force is not connected through its B port to a valid geometry. This error comes. How to solve it?

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Answer 1

Sebastian Castro 2018-1-23

18
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https://ww2.mathworks.cn/matlabcentral/answers/378561-rigidly-connected-port-error-with-simscape-multibody-contact-forces-library#answer_301337

编辑：Sebastian Castro 2018-2-7

This error is due to a default setting with new Simulink models, which is incompatible with the Contact Forces Library.

To resolve this:

Go to Simulation > Model Configuration Parameters
In the Simscape Multibody > Diagnostics pane, change the "Rigidly constrained block" diagnostic to "warning" or "none"

For those interested the details: The Contact Forces Library blocks uses "External Force and Torque" blocks to apply contact forces/torques to both bodies in contact. If at least one of these bodies is rigidly connected to the World Frame, you will get this error based on the diagnostic setting above. This error essentially warns you that you're applying a force to a body that will not move regardless of the applied force.

- Sebastian