Dear academicians/researchers,

I am working on 6 DOF Robotic arm control by using MATLAB /Simulink.The arm was designed in solidworks (1-CAD). I imported it into MATLAB simmechanics and I set up control blocks (2-Simulink). But I have a problem. I will write my questions accordingly.

1. When I arrange the settle time it become 10^-14 ~ 10^-30 second. Is it normal?(3-SettleTime)

2. I am setting up 6 joint in different settle time. And I think,Simulink run time is changing according to the last joint's settle time. Therefore, I couldn't observe the other angular changing in joints. For example, 6th joint is coming to desired angle in 10^-21 sec. but 5th joint is coming to desired angle in 10^-3 sec.I can't see the 5th joint's movement because Simulink run time is arrange itself according to 10^-21 sec. Have I understood this 'runtime' arrangement in Simulink correctly?

3. What do you think about this Simulink Simulation model? (4-SimMechanics).Its coordinates are placed interestingly.

4. I can control only max 1 or 2 joint among the 6 joints. Why Can't I control other arms together? (6-Scopes)

5. And what is the linearization problem's source?How can I arrange it?(5-linearization)

Thank you so much for your replies.

Sincerely,

Bilal