- In the actuation tab, set the torque to "Provided by Input" and the motion to "Automatically Computed".
- In the sensing tab, activate the Position sensing.
- Create a feedback loop from the position sensing output to the torque input.
- In your feedback loop, place a function which calculates a torque as a function of the position. The derivative of your function with respect to the position will be the stiffness at a given time.
Could the value of Spring Stiffness in the Revolute joint block (Simscape) be variable?
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I'm trying to build an inverse dynamic model, where the * spring stiffness* is a variable value, or more specifically, a function of the input, the motion trajectory. How should I implement for this? Could someone give me any related examples or information? Thanks a lot!
Nicolas Schmit 2018-5-21
The stiffness parameter of the revolute joint is a constant. You cannot change it in real time.
Here is how you can implement a variable stiffness: