MATLAB: How to give the effector a desired trajectory using simmechanics bloks.

Question

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

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