2 things for those interested: 1) It is moving because for some reason of that force applied on the Y+ on the 3rd plate, together with the main step input of the system. This is looping through again and again making a set reference point of let's say "+X degrees" hence it moves in a direction. Tuning it manually I found that if you keep that force on the top plate let's say +1, then you should have a step input with an initial value of +4, and that should make sure that the robot stabilizes using perfect PID values automically tuned and realistic environment. With this logic if you want to let's say simulate your own different setpoint remember that if you want to have a 10 degrees setpoint add +4 to it to make it appropriate and realistic, so put into the step an initial value of +14, and so on. In short, that constant movement of the robot is due to that initial force given to the top plate. 2) for those maniacs out there like myself, if you want to keep Z+ axis as your "UP" then just add a rigid transform right before the prismatic joint and set it as follows: Method: Standard axis > Axis: -Y > Angle:90. then go to the Mechanism Configuration and have gravity as: [0 0 -9.80665] this way gravity is kept as a force towards your relative "DOWN". Click ok, then hit Ctrl+D and enjoy your Z as "UP/Down" and X as "Forward/Backward" and Y as "Sideways".

This is an amazing video I always wondered how this was done. Thank you very much hope to see more videos! Subscribed!!

that was so helpful thankyou

thank u soooo much. this video saves my life

Remarkable! Wonderful I am speechless..

interesting video although just doing a standard screen cast even if it's longer would be much more useful. I feel like i have to debug this tutorial. You add in blocks and components offscreen and use keyboard short cuts without explaining how to search for components. Also things like at 12:12 where you say it's really crucial to set a value and then cover the actual screen with a blown up screen shot of a properties window (but is it the one you're talking about, is it a bug and which one is it for), below the screenshot you can see the bottom of the actual window you're editing.. Great topic but honestly just a screen share of the whole process (sped up for bits if needed) would be much more useful. Nothing fancy just what you did is best.

Nice video, thanks for sharing :)

This simulation is available at : ko-fi.com/s/716bba8384

what is a gravity? why the robot is running very quickly when i run it

I love ❤️ and subscribe your channel. Thanks very much bro and continue more deep video

Increasing integral gain has steady state error almost zero. But when I autotune it. Increasing integral gain doesnt effect steady state error. Why?

guys can someone help me out? everything has been working until i tried to implement the PID. the robot keeps falling down in the Y axis, has anyone had that issue before?

how can i get the transfer function of the system from this simulation?

I am having an issue, at the mid of the video, the bot is oscillating while give a +y force at p3, but mine is not oscillating, but moving and rotating at a faster pace(increasing), yes, i set the damping coeff at rotating joint. Anyway its moving but not oscillating. Can anyone help me with this?

Thank you. could you explain how to communicate with a real 2 wheel robot and how we apply this tutorial on that?

Sir, on which version is math lab simulink is 2013/2017/2020 etc... We can do this as a project

If l have the mathmatical model ..how to use it in the simulink ..plz answer me

but i can't find cylindrical solid in simscape

Great work!! I was impressed by this and wanted to implement LQR controller instead of PID. Can you implement LQR controller on the body, I am having some issues doing that. I dont know how to apply the state space model to the simscape simulations.

Nice work I'm naive in matlab. I'm just wondering what advantages do you see in simulink over ROS+Gazebo for simulation of this robot model..?

How can I keep robot from going?

Hello, I enjoyed the video. We are currently working on a project to produce segway. I succeeded in copying the video with my modeling. The question is, is the p,i,d value tuned in this multibody reliable? I mean, does it automatically calculate the transfer function? Thank you for the video. Thank you.

Thank you, this was excellent. I don't think the student license let's us do the animation though.

Someone tell me about mathematical equation this video, please ?

Which block or component in the simulation is responsible for giving the force for the robot to move ?

how do you see all components at 8:19?

What sensor to be used in the actual project ?

Could you help me with the programming in simulink?

Do you know how you would go about adding two DC motors connected to the frame, which in turn are connected to the wheel? I'm trying to translate this to my real world cart.

Thanks for the video, I'm facing a problem and I wanted to ask here: the mechanic explorer doesn't show any of the parts that I created it only shows a grey screen. Does anyone know how to solve that?

Can we control the positon of the Robot like you have done in the lqr video in this simulation

I have own Solidworks design parts and apply PID same way. But increasing integral gain doesnt have steady state error less.

why is the force in the y direction when the plane of movement is the xz? Why isn't it the z?

Can you make a video talking about used PID+Neural Network to control self-balancing robot in Simulink?

hello and please,in the library i cant find cylindrical solid option why is that

Can you make a video talking about a spherical robot?

Why I can't use outotune?

in this simulation you are just calculation vertical angle?

what is 12:10

I'm facing a problem with my Simuscape model , I've mailed you my .slx file can you please have a look and help me in rectifying the errors

At 14:01 what is value of gain ? kindly Answer me

Why have you taken positive feedback loop instead of negative feedback loop?

Is this video back on the shelves

How can I make a contact definition on the model?