How can I give the effector a desired trajectory using simmechanics bloks.

Hello everyone,

I have to give my effector trajectories for example a translation or rotation, how can I order my 4-DOF arm by defining the inverse dynamics through simmechanics blocks.

Thank you in advance.

Answer 1

[Sebastian Castro]

As long as you're using R2013b and later (if you're using the newer Second Generation SimMechanics), you can directly prescribe motion trajectories on joints. This blog post talks about it quite well:

http://blogs.mathworks.com/seth/2013/11/13/motion-actuation-in-simmechanics-r2013b/

There is also a good robotics example in the product. You can enter sm_welding_robot in the command window or look at this link:

http://www.mathworks.com/help/physmod/sm/examples/computing-actuator-torques-using-inverse-dynamics.html

- Sebastian

[sammari hatem]

Hello Sebastian,

Thank you very much for your reply, I am going to try with the links that you have sent to me, and I will tell you the result. Thank you again for your help.

Bests regards.