I have to model and control a robotic arm that is supposed to work underwater for an assignment.
I have modelled the arm on solidworks, then imported to sim mechanics using smlink plugin. i applied the hydrodynamic forces to the arm by creating frame in the solid and applying functions to them. and then i directly connected the system to the controller by taking measured outputs from the revolute joints. however i cant stabalize the controller. do i have to take jacobians and apply it to the system? if so, how should i go about doing it?
Thanks in advance.