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why the sensing output of the joint block(vel,acce,torque) is all zeros? I set the motion in actuator : provided by input(from workspace) and the torque:automatilcally computed .The manipulata move as expected .

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tq yu 2019-5-5

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https://ww2.mathworks.cn/matlabcentral/answers/460340-why-the-sensing-output-of-the-joint-block-vel-acce-torque-is-all-zeros-i-set-the-motion-in-actua

回答： tq yu 2019-5-6

采纳的回答： tq yu

As above .

The sensing position is presicely the same as input joints angles from workspace ,but the sensing vel,acce and the torque are all zeros .I didnot set the stamp or stiffness ,the manipulate is visualled by command :'smimport' from .urdf files which has inertial imformaion.

Someone help me out.Thanks a lot QQ截图20190505180305.png

QQ截图20190505180305.png

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tq yu 2019-5-6

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https://ww2.mathworks.cn/matlabcentral/answers/460340-why-the-sensing-output-of-the-joint-block-vel-acce-torque-is-all-zeros-i-set-the-motion-in-actua#answer_373703

have a look at the similar situation:

https://ww2.mathworks.cn/matlabcentral/answers/377250-why-is-measured-joint-velocity-zero-in-my-simscape-multibody-model

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Physical Modeling Simscape Multibody Multibody Modeling Assembly

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Simscape Multibody

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R2018b

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