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Simscape Change Actuation Method in Realtime?

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Hank Hsu
Hank Hsu on 20 May 2018
Answered: Steve Miller on 3 Apr 2019
Hello everybody, I'm building a model to simulate a robot's gait. The robot can actuate a joint by torque initially, and then actuate by a track, after a specific time. I wonder if there's a way to simulate this in Simulink. I tried if-else blocks with revolution joints which have different actuation type, but it raises error "Connections of the Physical Network cross nonvirtual boundaries." Rather, let's do this way: build a pendulum, give it sinusoidal motion actuation in time 0 to 3, and a constant torque in time 3 to 10.

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Answers (1)

Steve Miller
Steve Miller on 3 Apr 2019
Hi Hank,
Clever idea. However, you cannot switch actuation method (torque actuation / motion actuation) using if-else subsystems in Simscape. That changes the analysis type.
I think you would need to have a control strategy that changes its reference signal based on trajectory phase, but only relies on torque actuation.
--Steve

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