How to visualize a multibody model when running on a Speedgoat

I found the mechanics explorer useful when simulating a multibody model. Now I want to run the model on a real-time simulation machine. How can I visualize the model? If not, is there a method to visualize the real-time model such that it looks like a digital twin?

Answer 1

[Yifeng Tang]

Hi @f wang,

If I understand it correctly, you are trying to visualize the 3D movements of the parts, is that right?

If so, there is a way to do this. The idea is to set up transform sensors for ALL parts in the original model, and bundle the signals as part of the HIL simulation outputs. Have a companion models on desktop with all the parts and each part connected to a 6-DOF joint or gimbal joint. The output from the HIL simulation can then be used to drive each of the 6DOF joint, and all parts will APPEAR to be at the right location and orientation. If done right, the mechanism will APPEAR to be the same as the original one on desktop, while there isn't any real joint/contraint among the part, just the animation. This whole process can be automated using a MATLAB script and some pre-built library blocks, which you can modify to suit your hardware setup.

If this approach sounds reasonable, please reach out to MathWorks Tech Support or your MathWorks account team, and mention this MATLAB Answer post. I can help the local resource to share the workflow with you.

[f wang]

That's exactly what I want to do. Thank you very much.

Answer 2

[Sumukh]

Hi @f wang,

You can refer to the following MATLAB Answer from MathWorks Support Team that specifies various ways to visualize signals of the real-time model deployed onto Speedgoat hardware:

https://www.mathworks.com/matlabcentral/answers/2136638-how-can-i-live-stream-and-visualize-signals-from-my-speedgoat-target-computer-running-a-real-time-ap?s_tid=answers_rc1-3_p3_MLT

Simscape Multibody supports C/C++ code generation using Simulink Coder that can be deployed onto target hardware for rapid control prototyping. You can refer to the following documentation to understand more about preparing a Simscape Multibody model for deployment onto hardware:

https://www.mathworks.com/help/releases/R2023a/sm/deployment.html

There is, however, a restriction for running HIL simulation on Speedgoat FPGA hardware for Simscape Multibody blocks as mentioned in the following documentation:

https://www.mathworks.com/help/releases/R2023a/hdlcoder/ug/get-started-with-simscape-hardware-in-the-loop-workflow.html#mw_6c167d12-435b-407e-9fba-1b2c10c8f967

I hope this answers your query.

[f wang]

@Sumukh

Thanks a lot. But I can't find a solution to my problem. When running the multibody model on my real-time target machine, the Diagnostic viewer says "simscape multibody visualization using mechanics explorer is not supported in the external simulation mode". How to animate the 3D model in real time?