matlab - Computed Torque Control with a Simscape Manipulator

Question

I'm trying to realize a Vertical Two-Arm Planar Manipulator (Double Pendulum like) using Simscape Multibody. I'm kinda newbie in Robotics field and I'm not even sure if I did well the following creation. I realized this Manipulator using 2 Spherical Joints (Actuation: Torque Provided by input, abilitating Velocity Sensors) e 2 arms (1 meter-long Brick Blocks). I don't exactly know how to realize the Computed Torque Control: I know the theory behind it but I couldn't find any examples on how to implement it in Simulink through Matlab Functions, especially in a case like this. How can I realize a PD controller from a System created on Simscape Multibody?

Simscape Model I created

The Results

question from:https://stackoverflow.com/questions/65831042/computed-torque-control-with-a-simscape-manipulator

Answer 1

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