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Thread Subject:
SimElectronics Servomotor: Control and Integration with SimMechanics

Subject: SimElectronics Servomotor: Control and Integration with SimMechanics

From: Blaine

Date: 22 Oct, 2009 00:20:17

Message: 1 of 3

If i have a body in SimMechanics and i want to be able have that body as the load on a SimElectronics stepper motor, how can I do this? I have an inverse kinematics model that gives me the needed torque but i need to be able to incorporate the servomotor into my design instead of ideal actuators. Any help would be greatly appreciated!!

Thanks,

Blaine

Subject: SimElectronics Servomotor: Control and Integration with SimMechanics

From: Arnaud Miege

Date: 22 Oct, 2009 08:09:11

Message: 2 of 3


"Blaine " <EvilDonut0@gmail.com> wrote in message
news:hbo8g1$90v$1@fred.mathworks.com...
> If i have a body in SimMechanics and i want to be able have that body as
> the load on a SimElectronics stepper motor, how can I do this? I have an
> inverse kinematics model that gives me the needed torque but i need to be
> able to incorporate the servomotor into my design instead of ideal
> actuators. Any help would be greatly appreciated!!
>
> Thanks,
>
> Blaine
>

Use the interface blocks:
http://www.mathworks.com/access/helpdesk/help/toolbox/physmod/mech/ref/prismatictranslationalinterface.html
http://www.mathworks.com/access/helpdesk/help/toolbox/physmod/mech/ref/revoluterotationalinterface.html

Note that those are for joints, not bodies. However, you would normally use
your servomotor to actuate a joint, not a body (e.g. to replace a joint
actuator). Simscape and SimElectronics being 1D in nature, you can only
interface prismatic and revolute joints.

There are demos of these in SimMechanics (mech_interface_crate_transfer.mdl,
mech_interface_rot_spr_damper.mdl and mech_interface_hyd_slidercrank.mdl)

HTH,

Arnaud

Subject: SimElectronics Servomotor: Control and Integration with SimMechanics

From: Leonardo Araujo

Date: 15 Nov, 2009 15:16:01

Message: 3 of 3

"Blaine " <EvilDonut0@gmail.com> wrote in message <hbo8g1$90v$1@fred.mathworks.com>...
> If i have a body in SimMechanics and i want to be able have that body as the load on a SimElectronics stepper motor, how can I do this? I have an inverse kinematics model that gives me the needed torque but i need to be able to incorporate the servomotor into my design instead of ideal actuators. Any help would be greatly appreciated!!
>
> Thanks,
>
> Blaine

Hi Blaine I'm creating a Hexapod project that uses SimMechanics and SimElectronics to model a servomotor it's already working nice, but for the inverse kinematics of the robot it's not done yet :( ....

I'm posting the project in File Exchange but for the all the progress is been made in my webpage about Engineering tutorials at: http://www.tutoriaisengenharia.com

Here are some videos...
http://www.youtube.com/watch?v=rREE-2W19cA
http://www.youtube.com/watch?v=zuFVekXDGLk&feature=channel

Complete (almost) tutorial
http://www.tutoriaisengenharia.com/Electronics_Engineering/Actuators/Servomotor.php

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