Restricting motion for a sinusoidal force input in simscape
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I am inputting a sinsoidal input and pushing it through all kinematics and jacobian transposes to derive the desired force needed,
When i directly input the sinusoidal input to a prismatic joint (after choosing Force as an input to the joint) the model does't follow the trajectory but goes up OR down infinetly. How can i make prismatic joints follow a sinusoidal input by choosing force an an input to that joint,
(from figure, the end effector goes up infinietly)
Worth mentioning is that i am not taking any measurements (readings) from the joint i am calculating the desired force through a different kinematics and dynamics subsystem and then the calculated force is fed to the prismatic joints,
How can this be solved?
Thank you so much
采纳的回答
Steve Miller
2022-12-20
0 个投票
Without seeing your exact model, it is hard to say exactly what the problem is.
Here are my best guesses:
- You need to start your force sine wave with a phase angle of 90 degrees (or pi/2). If you apply a sine wave with a phase of 0 degrees, you will accelerate in one direction during the positive portion of the sine wave, and then decelerate back to 0 speed during the negative portion of the sine wave, but never have negative velocity. Your mechanism will move in steps in the same direction infinitely.
- Your force is not strong enough to overcome gravity.
--Steve
3 个评论
Ahmet
2022-12-20
Hi Steve, this is Ahmed Oubaed, thank you for your answer, even though it is 2 years late,
I hope this can be helpful to anyone facing a similar issue,
I recieved an email stating that tthe question is answered, i couldn't resist not to say Hi,
AHMED OUBAED
2022-12-20
Steve Miller
2022-12-20
My pleasure! Sorry it took so long to answer. This was miscategorized. I discovered it while refiling posts. Better late than never!
--Steve
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