Hi,
I'm trying to implementing position based impedance control on 2 DOF planar robot using Matlab/Simulink. Simulink diagram is attached in pdf format. Following error occurred when simulating
An error occurred while running the simulation and the simulation was terminated
- Caused by:
- Domain error. To compute complex results from real x, use 'sqrt(complex(x))'.
this error occurred due to out of workspace coordinates goes to inverse kinematics block. When i removed DC motor from path then simulation work fine but with motor, it have problems. i used PID controller too but still unbounded response. Can anyone please help me in this regard that why out of workspace coordinates generate ?
Thanks in advance.
Regards,
M Bilal