Hello everyone,
I beg your help, because I've been fighting this problem for more than a week without any particular result…
So, I have a Simulink block-diagram representing 5-links with 5 revolute joints robot-manipulator. First I solve Inverse Dynamics, motion is given to the model as a Nx3 vector with motion, velocity and acceleration, N – is number of steps. Normally I take 1 sec time period with 100 steps. In a simpliest case motion is rotation of 1st joint for pi/2 radians with acceleration within first 0.1 sec, constant motion within interval [0.1, 0.9], and decelearation within last 0.1 sec.
The result of Inverse Dynamics is a portion of computed torques on every joint. This part of simulation goes smoothly. Next I want to perform Forward Dynamics with torques I recieved in previous step, just to check if model works well. And here I have a problem. Results of Forward Dynamics do not match initial motion I set in the beginning, although if I put a sensor on a joint drawing torques, the torques on output match torques on input. So I quess that everything should work… But it doesn't.
Please someone help me. Many thanks in advance.
PS: Here is the link for the model (for a reduced model actually – only 3 joints).
File Initial_motion.mat contains Nx3 vector of motion for the first joint. Load this file first. File robomy_q123 contains simulink model for Inverse Dynamics. After running it, run file Q_fnc.m, which converts torques in function of time. Than run Simulink file robomy_q123_torq, which solves Forward dynamics.
Maybe it would help.
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