Bugs of Error | Actuator torque acting on joint primitive

Hi,

I have developed my model using Simulink and Simscape as shown below.

The joint kinematic in term joint angle (actuation) denoted by A, B and C are measured from IMU in lab.

I do change the sample time so see the corresponding actuator torque.

The results differe with respect to sample time and the magnitude is significantly differ as shown below.

I am still looking for answer. Thank you in advance.

Answer 1

[Steve Miller]

It is hard to give you a specific answer without looking at the model.

I believe you are applying a discrete motion signal, which will move the joint in steps. Each time the joint makes a step change, you will see a spike in the applied torque (or constraint torque). If you were able to simulate this as a variable step simulation and you can ensure that the signals are not applied in discrete steps, you would see values that make more sense to you.

--Steve