Trajectory plotting of manipulator path in Simscape

Asked by Gautami Golani on 18 Jul 2019

Latest activity Commented on by Gautami Golani on 24 Jul 2019

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Manip.gif

Hello all,

I am currently working on a trajectory path following project wherein I am trying to feed a path to a robotic arm in Simulink and have imported the CAD model with help of Simscape. I have successfully completed this part but just want to know if there is any way I can show the actual trajectory that the arm is following in the Simscape window explorer as shown in the attachment.

Thanks

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Simscape Multibody

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Answer by Sebastian Castro on 18 Jul 2019

Hi Gautami,

Simscape Multibody has a "Spline" block that lets you display a curve if you pass in the XYZ points. You have to display the whole curve during the whole simulation, if that's OK. Also, since it is an interpolating spline, I'd recommend passing in a bunch of the trajectory points (just the waypoints) and it will hopefully look close to the ideal trajectory.

https://www.mathworks.com/help/physmod/sm/ref/spline.html

If you need something to visualize the full trajectory of the path a body actually took, I might recommend using a "Transform Sensor" block to log the XYZ position of a particular coordinate frame and then log that data to MATLAB where you have all the visualization capabilities.

That aside, I agree with you that there should be an easier way to trace the path of a selected coordinate frame during simulation and visualize it on the Mechanics Explorer itself. I will convey your use case to our development team!

- Sebastian

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Gautami Golani on 18 Jul 2019

Thank you for your response sir.

I will surely look into your suggestions and try to see if it works with my program to obtain the desired result.

Will wait for your response as well to see if there's an easier way to obtain the result.

Regards

Gautami

Gautami Golani on 24 Jul 2019

Sir, is it possible to use the XY graph block to get the trajectory path that the robot arm is following?

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Simscape Multibody

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