MATLAB: Can I apply joint limits to actuators in SimMechanics

acutatorjointlimitsimmechanicsSimscape Multibody

I am looking for a way to apply joint limits. For example, I don't want a joint to move beyond +/- 10 degrees regardless of input.

Best Answer

There is no option for limiting Joint motion in SimMechanics.
As a workaround, use the Saturation block found in the Simulink Discontinuities library in combination with Sensors and Actuators to create the limiting effect for the joint. This is done by first passing the position signal through a Saturation block before inputting this signal into the Joint Actuator. Thus the position will be limited to the values specified in your Saturation block. Please examine the attached Simulink model.
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