Revolute robot arm by a certain angle (degrees)

Hi All I am trying to simulate the UR-10 robot arm in simscape. I was able to build the robot arm

and add the Revolute Joints

. I need to Revolute specific joints with a specific angle(30 and 60 degrees) I am not sure how to do that, can anyone help?

Answer 1

[Prashant Arora]

Hi,

I am assuming that you are looking to specify initial state positions for the revolute joint. This can be done in the "State Targets" property of the block. You can check the "Specify Position Target" and "Specify Velocity Target" to specify initial position and velocity. You can read more about this at the following link:

https://www.mathworks.com/help/physmod/sm/ref/revolutejoint.html?s_tid=doc_ta#bs2zvco-1

Hope this helps!