Bugs of Error | Actuator torque acting on joint primitive
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Muhammad Fairuz Abdul Jalal
on 8 Feb 2023
Answered: Steve Miller
on 12 Feb 2023
Hi,
I have developed my model using Simulink and Simscape as shown below.
The joint kinematic in term joint angle (actuation) denoted by A, B and C are measured from IMU in lab.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1288480/image.png)
I do change the sample time so see the corresponding actuator torque.
The results differe with respect to sample time and the magnitude is significantly differ as shown below.
I am still looking for answer. Thank you in advance.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1288485/image.png)
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Accepted Answer
Steve Miller
on 12 Feb 2023
It is hard to give you a specific answer without looking at the model.
I believe you are applying a discrete motion signal, which will move the joint in steps. Each time the joint makes a step change, you will see a spike in the applied torque (or constraint torque). If you were able to simulate this as a variable step simulation and you can ensure that the signals are not applied in discrete steps, you would see values that make more sense to you.
--Steve
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