How can I control joint forces in Matlab?

I would like to control the joint forces (no need for torque) in Adams Car-Matlab cosim. For example, a joint force in x, y, and z directions are 50, 150, and 200 N, respectively. When I use the gain function in Matlab, I would like to be able to make them 1, 3, and 4 N, respectively. How can I do that?

0 Jesper Slattengren over 2 years ago

Please explain what you mean with "joint force"., preferably with an example.

A joint is a kinematic constraint that produced whatever force it needs to satisfy the kinematic equations.
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0 canpolatb20 over 2 years ago

For example, I have a spherical joint between two bodies. It produces three translational forces between these bodies, but it doesn't produce any torque. If I am able to set FX, FY and FZ values of that joint to zero, it means that I can nullify the part and its effect during that process.
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0 Martin Kieltsch over 2 years ago

A constraint force cannot be "nullified". It's a result, not an input value.

If you want to switch on/off constraints during solver runtime, check out the GCON element.

This allows to constrain markers to an expression which is allowed to include variables.
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0 Alexis Del Rio over 2 years ago

The way I readit you want to; either disable a joint or replace it with a different joint during simulation? so the spherical joint with 3DOF you mentioned will become a joint primitive with either 4-5 or 6DOFs? is that what you want?
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0 canpolatb20 over 2 years ago

That's not what I want. My purpose is to nullify the effect of ARB during the simulation depending on a state variable. For example, if the state variable is higher than 1, ARB should not effect the system. On the other hand, when the state variable is lower than 1, ARB should be active in the simulation process. ARB should be continuously switched on and off.
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