How to scope the real-time attitude and rotational velocity of a body in Simscape Multibody (matlab 2016b)

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Based on Stewart platform model provided by matlab as example (it can be runned using the command sm_stewart_platform) in Simscape environment, I am trying to design a control system. The real-time attitude and rotational velocity of the moveable platform is used as feedback signal for this system. The problem is that how can I scope the real-time attitude and rotational velocity of moveable platform.
Thank you in advance for the help!

Accepted Answer

Vasco Lenzi
Vasco Lenzi on 18 Sep 2020
Hi
Have you tried using the Transform Sensor?
It can be setup to track motion between two frames. Just pick a two frames combination and put the transform sensor between them and pick the appropriate signal output.

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