How to constrain the rotation of a joint in SimMechanics 2nd generation

I'm working on modeling a robot and need to limit the ranges of my joints. currently the simulation seems to hit singularities and jump out of the intended work-space. Thus my thought is I could sidestep the problem by constraining out any ranges of motion the robot will not traverse anyway. Previously I've used saturation blocks to limit signals but am having no luck implementing anything similar with this model. This is the first time I've worked with SimMechanics Multibody so I'm probably missing something basic here but any help is appreciated!

Answer 1

[Pouya Jamali]

Hi Christopher,

If you haven't found a solution yet, I would suggest you have a look into the 'Rotational Hard Stop' block in SimScape. In order to employ that block you would need to convert your simulink signals to physical signals and vice verse using S to PS and PS to S converter blocks. Feel free to use the example I have attached for you.

Good luck with Matlab,

Pouya

[Dimple Prakash]

Thank you for your answer !!!

It was helpful..Could you please explain about the Hardstop block in your model?