Simscape Change Actuation Method in Realtime?

Hello everybody, I'm building a model to simulate a robot's gait. The robot can actuate a joint by torque initially, and then actuate by a track, after a specific time. I wonder if there's a way to simulate this in Simulink. I tried if-else blocks with revolution joints which have different actuation type, but it raises error "Connections of the Physical Network cross nonvirtual boundaries." Rather, let's do this way: build a pendulum, give it sinusoidal motion actuation in time 0 to 3, and a constant torque in time 3 to 10.

Answer 1

[Steve Miller]

Hi Hank,

Clever idea. However, you cannot switch actuation method (torque actuation / motion actuation) using if-else subsystems in Simscape. That changes the analysis type.

I think you would need to have a control strategy that changes its reference signal based on trajectory phase, but only relies on torque actuation.

--Steve