Could the value of Spring Stiffness in the Revolute joint block (Simscape) be variable?

12 vues (au cours des 30 derniers jours)
I'm trying to build an inverse dynamic model, where the * spring stiffness* is a variable value, or more specifically, a function of the input, the motion trajectory. How should I implement for this? Could someone give me any related examples or information? Thanks a lot!

Réponse acceptée

Nicolas Schmit
Nicolas Schmit le 21 Mai 2018
The stiffness parameter of the revolute joint is a constant. You cannot change it in real time.
Here is how you can implement a variable stiffness:
  1. In the actuation tab, set the torque to "Provided by Input" and the motion to "Automatically Computed".
  2. In the sensing tab, activate the Position sensing.
  3. Create a feedback loop from the position sensing output to the torque input.
  4. In your feedback loop, place a function which calculates a torque as a function of the position. The derivative of your function with respect to the position will be the stiffness at a given time.
  3 commentaires
FENGPEI YUAN le 22 Mai 2018
I got your idea...but in my model, especially the inverse model, I need to actuate my mechanical system by Motion Input, where the spring stiffness is still dynamic. Therefore, I think of one solution, as shown in the attached picture... Moreover, if we monitor the actuator torque of the Revolute joint, I think it will work...

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