How to impose initial condition on an actuated joint in SimMechanics model?
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Ventsislav Pazhev
on 19 Feb 2015
Commented: Guoping Zhao
on 19 Jun 2018
I am currently trying to impose an initial condition on an actuated joint. However, this initial condition should not be imposed through the controller for the actuator. I want the two to be interdependent. Can you give me any advise on how to achieve achieve this?
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Accepted Answer
Steve Miller
on 8 Mar 2018
You can specify target values for the initial position and velocity for any joint. This is independent of the value that the controller determines at the start of simulation. You could link these two together using MATLAB variables.
Expand the State Targets group in the joint dialog box parameters. There is a State Targets group for each degree of freedom of the joint.
--Steve
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Guoping Zhao
on 19 Jun 2018
Hi Steve,
Is it possible to set the joint initial position and velocity as tunable parameter? I'm running the model in rapid mode. I have to recompile the model every time I change the joint initial condition.
I also posted the question here: https://www.mathworks.com/matlabcentral/answers/399559-simmechanics-joint-initial-condition-tunable-parameter
Thanks. --Guoping
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