Adding A Mass To Robotic Arm As a Disturbance Force

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Ekrem Onur Ozbisirici 2020-1-7

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https://ww2.mathworks.cn/matlabcentral/answers/499165-adding-a-mass-to-robotic-arm-as-a-disturbance-force

回答： Steve Miller 2021-11-24

I've designed a 3-dof robotic arm as a solid model and import it matlab simulink. Then I defined each joint step input and controlled them with PID. Tuned the PID constansts and result is the arm became stable so fast. Yes, there are step inputs but there is no disturbance signal or force. So, the arm cannot move and I observe nothing. Now, how can i add disturbance signal, force, or adding mass to edge point of the arm as a disturbance? Or which is the true selection for that project? I found some links about disturbances and mass that i thought relative things but i am not sure. I added the links below. Thank you!!( Win10, r2019b)

https://www.mathworks.com/help/mpc/ug/adjusting-disturbance-and-noise-models.html

https://www.mathworks.com/help/robotics/ref/jointspacemassmatrix.html

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Answer 1

Steve Miller 2021-11-24

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https://ww2.mathworks.cn/matlabcentral/answers/499165-adding-a-mass-to-robotic-arm-as-a-disturbance-force#answer_839004

Here are some disturbances you can add:

You can add a disturbance to the sensor signal by using a sum block and adding noise to the signal. A noise signal can come from the Noise block.
You can add a disturbance force to the system using the External Force and Torque block
You can add or remove mass to any frame on the robot using variable mass blocks, such as the Spherical Variable Mass block
You could hit the robot with another object using the Spatial Force Contact block.