I'm trying to realize a Vertical Two-Arm Planar Manipulator (Double Pendulum like) using Simscape Multibody. I'm kinda newbie in Robotics field and I'm not even sure if I did well the following creation. I realized this Manipulator using 2 Spherical Joints (Actuation: Torque Provided by input, abilitating Velocity Sensors) e 2 arms (1 meter-long Brick Blocks). I don't exactly know how to realize the Computed Torque Control: I know the theory behind it but I couldn't find any examples on how to implement it in Simulink through Matlab Functions, especially in a case like this. How can I realize a PD controller from a System created on Simscape Multibody?
Computed Torque Control with a Simscape Manipulator
398 Views Asked by Emanueleway At
0
There are 0 best solutions below
Related Questions in MATLAB
- Convert Cell Array of Symbolic Functions to Double Array of Symbolic Functions MATLAB
- How to restrict vpasolve() to only integer solutions (MATLAB)
- "Error in port widths or dimensions" while producting 27
- matlab has encountered an internal problem needs to close
- Minimize the sum of squared errors between the experimental and predicted data in order to estimate two optimum parameters by using matlab
- Solve equation with Crank Nicolson and Newton iterative method in Matlab
- Why options are not available in EEGLAB menu options?
- ash: ./MathWorksProductInstaller: not found, but file exists
- iterative GA optimization algorithm
- Create Symbolic Function from Double Vector MATLAB
- Fixing FEA Model loading with correct units and stress results
- loading variables from a python script in matlab
- Why cannot I set font of `xlabel` in `plotmf` in MATLAB?
- How would I go about filtering non-standardly formatted serial data which contains some junk binary between data entries?
- Cyclic Voltammetry Simmulation in MATLAB, I am running into issues with my data points returning as NaN values, i am a beginner, any help wanted
Related Questions in SIMULINK
- "Error in port widths or dimensions" while producting 27
- Simulink: Cant Build Model due to Reason: "Code generation information file does not exist"
- Running batch script generated from embedded coder (in Matlab) on command line gives error
- Strange "Compare To Constant" behavior
- Simulink: How to programmatically move all items connected to a Subsystem
- The problem with running the Simulink model on arduino uno
- Simulink only reading first row of matrix from workspace
- Simulink integrate for a set duration of time
- Simulink elastic collision of 2DoF suspension model (tire + car)
- What commands are needed to get the distance from the car to the traffic light in MATLAB and SUMO
- Issue Converting C2000 F28379D Sample to F28335 - ADC Block Error
- CMake Eorror When Building Simulink DDS Blockset Example Model shapesdemo
- Can I adjust knobs in Simulink more accurately?
- How do you design a feedforward sigmoidal neural network in simulink in order to find a universal approximator
- TCP/IP Simulink not receiving data
Related Questions in ROBOTICS
- Python cv2 imwrite() - RGB or BGR
- Linear trinagulation yields poor results
- Pick and place simulation using the Robotiq 2F-140 manipulator in drake
- Calculate Velocity from Accelerometer of Android Phone
- How do the Kitronik Robotics Boards' motor outputs work only for motors specifically?
- Raspberry Pi GPIO - device or resource busy
- trouble with Python package import command in Spyder5
- Drawing a circle in a 3D enviroment using a 3DOF arm
- Mujoco - Change MjModel instance during runtime in Python
- How to set up 2D pose with IMU and odometry using robot localization ekf?
- Obtaining rotation and translation matrix from homogeneous transformation matrix
- Lidar intensity value normalization
- My MG995 servo is not working with lipo power cells even though they can provide the right current
- Robot that moves with putting in X,Y coordinates of a U shaped field
- FailSafe mode is activated [unexpectedly] when PX4Multirotor takeoff
Related Questions in MANIPULATORS
- Custom I/O manipulator in C++ for padding
- Simulation tools to validate the maths models of an unmanned surface vehicle (USV) with a manipulator
- Can't understand how to make istream manipulator
- Can you have manipulators in C++ for classes that are not stream (ostream/istream) based
- Necessity of importing <ios> header file in C++
- a sleek C++ variadic named test output
- Writing a custom input manipulator
- How to read only certain range of symbols from std::basic_ostream (e.g. std::cin)
- How to create a manipulator that would call a specific function in the next object in the stream?
- Custom stream manipulator that passes a character to operator overload
- Parametrized custom stream manipulators - why overload "operator<<"?
- User defined defined manipulator error: "not declared in this scope"?
- why bits sets are decreased after setting flag manipulator?
- How to flush buffer manually?
- C++ noskipws manipulator affects non-formatted input function performance
Related Questions in SIMSCAPE
- Simulink elastic collision of 2DoF suspension model (tire + car)
- Problem with modelling a basic Fluidic System in OpenModelica
- Modelling a closed kinematic chain in simscape
- PID controllers not controlling drone in simscape
- Anomalous behavior of the Simulink signal - Simscape
- how to export data from matlab to open modelica
- Advice and ideas to "get"/"collect" the units at the ports of the Simscape blocks
- "Leadscrew" block in Simscape: is it possibile to convert this block to rotating nut and translating screw? How the physics is modeled by the block?
- Calling a 3D meshgrid into Simscape
- Mean block in SIMULINK not behaving as expected
- Why is the three-phase fault block in Simulink producing low current during simulation with correctly configured relay logic?
- How to connect output from PEM fuel cell to Boost Converter?
- DC Motor parameter in simscape
- Connecting blocks in Simulink
- How to connect elements form different simscape sub-libraries?
Trending Questions
- UIImageView Frame Doesn't Reflect Constraints
- Is it possible to use adb commands to click on a view by finding its ID?
- How to create a new web character symbol recognizable by html/javascript?
- Why isn't my CSS3 animation smooth in Google Chrome (but very smooth on other browsers)?
- Heap Gives Page Fault
- Connect ffmpeg to Visual Studio 2008
- Both Object- and ValueAnimator jumps when Duration is set above API LvL 24
- How to avoid default initialization of objects in std::vector?
- second argument of the command line arguments in a format other than char** argv or char* argv[]
- How to improve efficiency of algorithm which generates next lexicographic permutation?
- Navigating to the another actvity app getting crash in android
- How to read the particular message format in android and store in sqlite database?
- Resetting inventory status after order is cancelled
- Efficiently compute powers of X in SSE/AVX
- Insert into an external database using ajax and php : POST 500 (Internal Server Error)
Popular # Hahtags
Popular Questions
- How do I undo the most recent local commits in Git?
- How can I remove a specific item from an array in JavaScript?
- How do I delete a Git branch locally and remotely?
- Find all files containing a specific text (string) on Linux?
- How do I revert a Git repository to a previous commit?
- How do I create an HTML button that acts like a link?
- How do I check out a remote Git branch?
- How do I force "git pull" to overwrite local files?
- How do I list all files of a directory?
- How to check whether a string contains a substring in JavaScript?
- How do I redirect to another webpage?
- How can I iterate over rows in a Pandas DataFrame?
- How do I convert a String to an int in Java?
- Does Python have a string 'contains' substring method?
- How do I check if a string contains a specific word?