Revolute Joints Block, State Tragets

Question

Ashraf Omran 2020-8-18

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回答： Vasco Lenzi 2020-8-27

When I have a value for "Specify Position Target" and I run the simulation, I don't get the same value from the sensor. Any idea, how can I set the mechanism at a specific revolute joint angle?

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Vasco Lenzi 2020-8-24

Are you using PS-Simulinkconverter to look at the angle? Or Simulink-PS converter to feed position to the joint? Are all of the SI units correctly handled between Simscape and Simulink (eg rad vs deg)?

Cheers

Vasco

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Answer 1

Vasco Lenzi 2020-8-27

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Closing the loop here. The main problem was the initial condition setting at different joint targets. You can check if a system initialized in the desired target by going to the Variable Viewer:

And then checking if the system could initialize correctly:

Usually relaxing some of the target leads to the system initalizing correctly.

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Answer 2

Ashraf Omran 2020-8-24

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Fig1.JPG

Hi Vasco,

Thanks for your reply. Here are my answers:

Are you using PS-Simulinkconverter to look at the angle?

Yes

Or Simulink-PS converter to feed position to the joint?

I don't use it as actuator. I use "Properties/statetraget/position/value". Please see the attached fig 1.

Are all of the SI units correctly handled between Simscape and Simulink (eg rad vs deg)?

Yes

I can send my file to you over the email. Please let me know.

Thanks,

Ashraf

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Vasco Lenzi 2020-8-24

Hi Ashraf

thanks for answering the questions.

feel free to attach the files on this topic. That may be best since more people may chime in to help

Vasco

Ashraf Omran 2020-8-24

Hi Vasco,

I can not share my file on this website for public. It is a confidential material. I can send you the file over the email or I can call the technical support to help me with this issue. Please let me know.

Thanks,

Ashraf

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