Hello, I am making a Cylindrical robot and using Simscape to create the model then using Robotics System toolbox I get the simulation. In the first stage I only created a cuboidal base and mounted a cylinder on top of it. I would like the cylinder to rotate around it's own axis (i.e z axis). Firstly I used a Revolute joint with Actuation Torque - Provided by input, Motion- Automatically Computed, Sensing- Position and and in Simulink-PS converter I gave input handling as Filter Input Derivatives Calculated, Second Order Filtering while as an input I gave sine wave with Amplitude 1 and Frequency 0.1 (rad/sec) While I tried changing rigid transform roation axis to all different variation, tried changing Simulink-PS converted parameters and Actuation parameters and I am getting no errors when I run it but I am getting no motion too.
Then I used Universal Joint with same above mentioned parameters while in the joint actuation I only used x axis where I get the output but it is the roation about x axis and tried various combinations mentioned above but I am not getting the rotation I want about z axis. I have shared the required images below. Kinldy help. Thank you a ton in advance!
Here is the Final Model where I used Robotics System toolbox
Here is the Inside model of the block input0 ----- output using Universal Joint
Here is the same model for Revolute Joint
Here is the output:
