How to limit the revolute joint

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Akira Ito
Akira Ito il 28 Set 2018
Risposto: Sebastian Castro il 3 Ott 2018
Hi, I'm using Simscape Multibody to make 2-link Acrobot simulation. The question is, that how can I limit the rotation angle of the actuating revolute joint. I tried applying rotational hard stop block in Simscape Multibody Multiphysics Library, but then the revolute joint won't actuate at all.

Risposte (1)

Sebastian Castro
Sebastian Castro il 3 Ott 2018
The solution you presented is correct -- if you use the Simscape Multibody Multiphysics Library, you can apply a penalty torque when the joints hit their limits. This works fine if you're actuating your joint using torque signal.
What didn't work in that solution?
- Sebastian

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R2018a

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