Joint saturation in simmechanics second generation

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Pouya Jamali 2012-10-24

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评论： christopher bitikofer 2016-12-23

Any one has any idea about how to limit the motion of a revolute joint which is actuated by torque? in order to model a biped robot I need to saturate the joints like as human body.For example knee joint just can move in a limited range. I did it before in simmechanics first generation by designing a filter. The actuator was motion in that model. Now I don't know how to do it again when the actuator is a torque. I need to use something like revolute hard limits, Maybe...

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Walter Roberson 2012-11-5

Please use better tags for this question; see http://www.mathworks.co.uk/matlabcentral/answers/43073-a-guide-to-tags

Pouya Jamali 2012-11-27

How is it now? ;-)

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回答（1 个）

Ryan G 2012-10-24

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You can use an angle constraint to limit the motion of a revolute joint.

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Pouya Jamali 2012-10-25

编辑：Pouya Jamali 2012-10-25

Daer Ryan tnx for your attention, I will be more grateful if you provide me with more explanation... I don't know how must I place this block on my block diagram...Must it be placed serially between the joint and the body ?