MATLAB Answers

pouya jamali

Joint saturation in simmechanics second generation

Asked by pouya jamali
on 24 Oct 2012

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...


How is it now? ;-)

1 Answer

Answer by Ryan G
on 24 Oct 2012

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

  1 Comment

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 ?

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