Robot arm matlab Simulink simulation error

Robotics Asked on January 4, 2022

I am doing robotic arm simulation in Matlab Simulink but get the error. How I can resolve this.

enter image description here

My model given below.
enter image description here

Other details:
1. image of coordinates with world coordinates.
2. 6 DOF joint setting
enter image description here
enter image description here

One Answer

You cane find a detailed explanation on how to set the joint actuation types here. It seems that you need to set the torques as automatically computed, otherwise these are set to zero.

Furthermore, as it seems, the robot only moves in the x-y plane, but there is a z offset wrt the world coordinate system. Please make sure that this is handled correctly (you can use the same offset before the 6dof joint or you can allow for z axis movement)

Answered by 50k4 on January 4, 2022

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