How to scope the real-time attitude and rotational velocity of a body in Simscape Multibody (matlab 2016b)

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real teallen 2020-9-17

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评论： real teallen 2020-9-18

Based on Stewart platform model provided by matlab as example (it can be runned using the command sm_stewart_platform) in Simscape environment, I am trying to design a control system. The real-time attitude and rotational velocity of the moveable platform is used as feedback signal for this system. The problem is that how can I scope the real-time attitude and rotational velocity of moveable platform.

Thank you in advance for the help!

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Answer 1

Vasco Lenzi 2020-9-18

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Hi

Have you tried using the Transform Sensor?

https://ch.mathworks.com/help/physmod/sm/ref/transformsensor.html?s_tid=srchtitle

https://ch.mathworks.com/help/physmod/sm/ug/sense-double-pendulum-motion.html#:~:text=Transform%20Sensor%20Block-,Model%20Overview,position%2C%20velocity%2C%20and%20acceleration.

It can be setup to track motion between two frames. Just pick a two frames combination and put the transform sensor between them and pick the appropriate signal output.