Revolute Joints Block, State Tragets

When I have a value for "Specify Position Target" and I run the simulation, I don't get the same value from the sensor. Any idea, how can I set the mechanism at a specific revolute joint angle?

[Vasco Lenzi]

Are you using PS-Simulinkconverter to look at the angle? Or Simulink-PS converter to feed position to the joint? Are all of the SI units correctly handled between Simscape and Simulink (eg rad vs deg)?

Cheers

Vasco

Answer 1

[Vasco Lenzi]

Closing the loop here. The main problem was the initial condition setting at different joint targets. You can check if a system initialized in the desired target by going to the Variable Viewer:

And then checking if the system could initialize correctly:

Usually relaxing some of the target leads to the system initalizing correctly.

[Siti Abyad]

Hi, Im having a similar problem. but wierdly when I open variable viewer, the targets are not the same as that which i set on my simscape revolute joint, and the status is still green, and the priority level is set to none, and the target column is just empty, even though I haved filled in and checked the state targets section on each joint.. Is there a possible solution to this?

Answer 2

[Ashraf Omran]

Hi Vasco,

Thanks for your reply. Here are my answers:

Are you using PS-Simulinkconverter to look at the angle?

Yes

Or Simulink-PS converter to feed position to the joint?

I don't use it as actuator. I use "Properties/statetraget/position/value". Please see the attached fig 1.

Are all of the SI units correctly handled between Simscape and Simulink (eg rad vs deg)?

Yes

I can send my file to you over the email. Please let me know.

Thanks,

Ashraf

[Vasco Lenzi]

Hi Ashraf

thanks for answering the questions.

feel free to attach the files on this topic. That may be best since more people may chime in to help

Vasco

[Ashraf Omran]

Hi Vasco,

I can not share my file on this website for public. It is a confidential material. I can send you the file over the email or I can call the technical support to help me with this issue. Please let me know.

Thanks,

Ashraf