How can i control Spherical Joint in Simscape Multibody?

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I am trying to control the arm in the picture with the simulink model as shown below. Even when I don't give any input, spherical joint moves on its own uncontrollaby.

Answers (1)

Steve Miller
Steve Miller on 27 Feb 2023
Your model is moving due to gravity. The inputs you have specified are torques, not motions. If you apply 0 torque, the arm will move like a spherical pendulum.
Here are two options:
  1. Switch to a Gimbal Joint. This also permits 3 degrees of freedom, and you can motion actuate each one. Just make sure you don't go into gimbal lock, where two of the degrees of freedom are aligned.
  2. Use a PI or PID controller to control the torques to achieve the positions you want.
--Steve

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