Question about Imitating a robotic arm using simscape
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I have imported a 3 degree robotic arm from a solidworks assembly to matlab simulink.
My intentions are to apply a force on one end and mesure the position (angle) of the arm.
I have attached an image to show clearly what i've done.
Couple of questions i stumbled upom:
- I've been having some trouble starting the simulation while all the links are straight (i.e. 0 degree angle between them), i'd appreciate some input on that.
- Also, when mesuring the angle at each transformation axis using the scope, i get graphs which i cannot understand, is it in degrees? and if not, how can i read it in degrees, or change the axis to be read in degrees.
Thanks for the input
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Steve Miller
2021년 6월 18일
Hi Criss
> Starting the simulation while all the links are straight (i.e. 0 degree angle between them)
The angles of the joints at time = 0 will be the angles they were at in your CAD model. If you want to adjust them further, you can set the State Target for position at each joint.
> How can i change the axis to be read in degrees?
The default output is in radians. You can put a gain block on the Simulink signal and multiply by (180/pi), or you can go into the PS-Simulink converter block and set the units to 'deg'.
--Steve
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