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Revolute Joints Block, State Tragets

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Ashraf Omran
Ashraf Omran on 18 Aug 2020
Answered: Vasco Lenzi on 27 Aug 2020
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?

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Vasco Lenzi
Vasco Lenzi on 24 Aug 2020
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

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Accepted Answer

Vasco Lenzi
Vasco Lenzi on 27 Aug 2020
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.

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More Answers (1)

Ashraf Omran
Ashraf Omran on 24 Aug 2020
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

  2 Comments

Vasco Lenzi
Vasco Lenzi on 24 Aug 2020
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
Ashraf Omran on 24 Aug 2020
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

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