error: Spatial Contact Force 'robotsim_1/Spatial Contact Force' is not connected through its B port to a valid geometry. Resolve this issue in order to simulate the model.

I have attached a .slx file. If i simulate it, i am getting an spatial contact error. How to resolve it. And it would be great if somebody add a PID controller to make the robot walk.

Answer 1

[Raj]

Hi @Mohinuddin Shaik

I went through the simscape model and noticed that the port B of Spatial Contact Force block is not connected to a valid geometry. Spatial Contact Force block models the contact between a pair of geometries in 3-D space. Thus it needs to be connected to valid geometries on both of it ports.

In the model, both port number 1 and port number 2 aren't valid geometries and hence an error is thrown while running the model. Ensure that the port 1 and port 2 are valid ports which are connected to another subsytem.

For better understanding on how to use spatial contact force, you can refer to the following documentation and example links below-

• Spatial Contact Force- https://www.mathworks.com/help/sm/ref/spatialcontactforce.html
• Modeling Contact Force Between Two Solids- https://www.mathworks.com/help/sm/ug/modeling-contact-force-between-two-solids.html
• Using the Spatial Contact Force Block - Bumper Car (example)- https://www.mathworks.com/help/releases/R2023b/sm/ug/using-the-contact-force-block-bumper-car.html

I hope this solves the query you had!!