I have built a Simscape Multibody model to solve an inverse dynamics problem. First, I provided the motion to the effector of my rigid body mechanism:
sampled 112 times in a 10s period. Then, I recorded the actuator torque of the joint I'm interested in into my workspace. I plotted it:
I assume the 112 peaks on my torque are caused by the not enough dense sampling of my input motion. So this time I sampled my motion 10x denser, using linear interpolation to calculate values of the new points:
The denser sampled motion looks like this:
The plot is so broad because of overlapping of samples points. I started the simulation again, recording the new actuator torque. Nevertheless, my plotted actuator torque still has 112 peaks:
Does anybody know why this happens?