I am making a program to do simulations on robot dynamics and inverse dynamics.
To that end I use Simscape and SimscapeMUltibody.
In dynamics calculation, I heard that it is necessary to match the "power" of the block of the Simscape part and the block of the SimscapeMultibody part and exchange information with each other.
"Power" = Torque * Angular speed
This should be no problem if you connect like the image below.
How should we connect in inverse dynamics calculations?
I created a calculation model of inverse dynamics as shown in the image below.
First, calculate the torque with Multibody from the movement of the arm.
Next, I thought that the torque that needs to be generated by the motor can be simulated via the speed reducer and friction elements by connecting in the reverse order to the Simscape part (dynamic model) in the image above.
However, in the image below, I cannot think that the power is matched between Simscape and SimscapeMultibody.
I think that it is unilateral transmission.
What are the correct connection and wiring methods?
This model applies the "simple pendulum" example.
"simple pendulum" https://jp.mathworks.com/help/physmod/sm/gs/model-pendulum.html
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