Cohesive Movement Simscape Multibody

I've created this file using Simscape multibody show 4 DOF of a robotic arm. When all of the joints are connected and the simulations run, the arm swings around wildly. How can I implement some kind of delay or senseing to make the joints move one at a time, one after another

Answer 1

[Vasco Lenzi]

Hi Leeann

I run your model with all sinus connected to the joint and got this video. They are simply following your sinus input. I don't think I understand what you want to achieve, it doesn't look "wild" to me.

[Leeann Newton]

I guess what I'm asking is, how can I change my inputs so that the joints move one at at time. The first joint would move and then stop, then the next joint would start to move and so one.

[Vasco Lenzi]

you can use the Signal Editor in the simulink library to create complex motion vectors.

If you need some more ocmplex logic you can use Stateflow to model a state machine that would send out specific motion at a certain times.