viewSolution

Open Multibody Explorer to visualize KinematicsSolver solution

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Syntax

viewSolution(ks)

Description

viewSolution(ks) opens the Multibody Explorer to visualize the mechanism corresponding to the latest solution computed by the solve method for the KinematicsSolver object ks.

Note

  • An error occurs if the solve function was not invoked before calling the viewSolution function.

  • If the statusFlag corresponding to the last call to solve is -3, the state returned by the solver is not kinematically feasible. In this case, the mechanism rendered in the viewer is not physically realizable.

Examples

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Open Live Script

Open the example and create a KinematicsSolver object for the double pendulum model.

mdl = "DoublePendulum";
load_system(mdl);
ks = simscape.multibody.KinematicsSolver(mdl);

List all of the joint position variables.

jointPositionVariables(ks)
ans=2×4 table
       ID           JointType                   BlockPath               Unit 
    _________    ________________    _______________________________    _____

    "j1.Rz.q"    "Revolute Joint"    "DoublePendulum/Lower Revolute"    "deg"
    "j2.Rz.q"    "Revolute Joint"    "DoublePendulum/Upper Revolute"    "deg"

Assign the upper and lower revolute joint angles as target variables.

targetIDs = ["j1.Rz.q";"j2.Rz.q"];
addTargetVariables(ks,targetIDs);

Solve the forward kinematics problem with given joint angles.

targets = [90,0];
outputVec = solve(ks,targets);

Open the Kinematics Solver Viewer. At the MATLAB® command prompt, enter:

viewSolution(ks);

Click the Front view button to view the solution.

Close the viewer.

closeViewer(ks);

Input Arguments

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Kinematics solver object, specified as a KinematicsSolver object that is the representation of the Simscape™ Multibody™ model used for kinematic analysis.

Example: ks = simscape.multibody.KinematicsSolver("DoublePendulumExample​'​')

Version History

Introduced in R2020a

See Also

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