Hello, I am currently facing an issue related to the joint positions of a 6-axis robotic arm. My objective is to visualize these joint accelerations without using a controller(That will be done later). Here’s my approach: I generate a trajectory using a minimum jerk polynomial trajectory, obtaining joint positions (q), velocities (qd), and accelerations (qdd). I then use these values along with an external force (fexterior) as inputs for the Inverse Dynamics block, resulting in joint torques.

Now, with these obtained joint torques, along with the initial joint positions (q), velocities (qd), and the external force (fext) used earlier, I attempt to regenerate the joint positions using the Forward Dynamics block. However, I observe that the joint accelerations remain constant even when I vary the external force (Fext). This is perplexing, especially considering that when I use the Inverse Dynamics block with different Fext values, I obtain distinct joint torques for each payload. Yet, the results from the Forward Dynamics block remain the same.

Could you provide insights into why the joint accelerations from the Forward Dynamics block are not varying with changes in the external force, despite the distinct joint torques obtained from the Inverse Dynamics block for different payloads? Your assistance is highly appreciated. Thank you!Hello, I am currently facing an issue related to the joint positions of a 6-axis robotic arm. My objective is to visualize these joint accelerations without using a controller(That will be done later). Here’s my approach: I generate a trajectory using a minimum jerk polynomial trajectory, obtaining joint positions (q), velocities (qd), and accelerations (qdd). I then use these values along with an external force (fexterior) as inputs for the Inverse Dynamics block, resulting in joint torques.

Now, with these obtained joint torques, along with the initial joint positions (q), velocities (qd), and the external force (fext) used earlier, I attempt to regenerate the joint positions using the Forward Dynamics block. However, I observe that the joint accelerations remain constant even when I vary the external force (Fext). This is perplexing, especially considering that when I use the Inverse Dynamics block with different Fext values, I obtain distinct joint torques for each payload. Yet, the results from the Forward Dynamics block remain the same.

Could you provide insights into why the joint accelerations from the Forward Dynamics block are not varying with changes in the external force, despite the distinct joint torques obtained from the Inverse Dynamics block for different payloads? Your assistance is highly appreciated. Thank you! Hello, I am currently facing an issue related to the joint positions of a 6-axis robotic arm. My objective is to visualize these joint accelerations without using a controller(That will be done later). Here’s my approach: I generate a trajectory using a minimum jerk polynomial trajectory, obtaining joint positions (q), velocities (qd), and accelerations (qdd). I then use these values along with an external force (fexterior) as inputs for the Inverse Dynamics block, resulting in joint torques.

Now, with these obtained joint torques, along with the initial joint positions (q), velocities (qd), and the external force (fext) used earlier, I attempt to regenerate the joint positions using the Forward Dynamics block. However, I observe that the joint accelerations remain constant even when I vary the external force (Fext). This is perplexing, especially considering that when I use the Inverse Dynamics block with different Fext values, I obtain distinct joint torques for each payload. Yet, the results from the Forward Dynamics block remain the same.

Could you provide insights into why the joint accelerations from the Forward Dynamics block are not varying with changes in the external force, despite the distinct joint torques obtained from the Inverse Dynamics block for different payloads? Your assistance is highly appreciated. Thank you! simulink MATLAB Answers — New Questions

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