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Motion actuation in a joint under Simmechanics Second Generation

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Paulo Melo
Paulo Melo 2012-10-5
编辑： Todireanu Mihai-Silviu 2018-7-30
Hi!
I've been build my models with the new generation of Simmechanics and I want to prescribe a motion to a joint (revolute) but I can't seem to find the option to do it. In the previous generation there was the option of picking a joint actuator block where one could choose between motion or force. In this new version the actuator comes bundled with the joint block and only allows for torque actuation. Does anyone know how to do it? Thank you.

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回答（2 个）

pietro
pietro 2012-12-4
Hopefully this feature will be released in the next version of simmechanics. I lost one month to convert my model to 2nd generation and discover right now, that it's not possible to actuate a joint in terms of motion. :(
Seonggon Kim
Seonggon Kim 2017-5-18
The way of motion actuation was changed from simMechanics 1st generation. I found the solution from the below blogs. http://blogs.mathworks.com/simulink/2013/11/13/motion-actuation-in-simmechanics-r2013b/
One important thing to note is that when specifying motion to a joint primitive, position, velocity and acceleration must be specified. To help with that, the Simulink-PS Converter gives the possibility to filter the desired motion and internally compute the first and second derivative of the input signal.

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