How can I plug inverse kinematics to a Simscape multibody?

Hello,

This is my Simulink model of a delta robot using Simscape multibody. I have an inverse kinematics matlab code. How can I plug it into the Simulink model?

Answer 1

[Juan Sagarduy]

Hello there

You need to set the joint in kinematic mode (Actuation >> Motion - Prescribed / Torque - automatically calculated) See below.. Then feed the joints with a time-dependent trace matching the duty cycle you expect the mechanism to execute. See that a little arrow pops up so that the signal can be connected.

Best of Luck / Juan

[Hwajin Choi]

Rather than setting the motion manually, I want to make the robot moves corresponding to the inverse kinematics I coded. The inverse kinematics calculates revolute joint angles with given cartesian position of an end effector x,y, and z.