Non-constant torque actuator axis for forward dynamics

[Melanie Hook]

Hello,
I would like to run a forward dynamics simulation to confirm that a torque profile results in the expected motion. The torque magnitude and axis of application are both time-dependent. Using a TorqueActuator and Controller should allow me to obtain the correct time-dependent magnitude, but I do not know how to modify the code to incorporate the changing axis. Do I need to develop a custom actuator and if so, how would I do so? Alternatively, would it be possible to run forward dynamics using the Matlab API one timestep at a time and manually modify the TorqueActuator axis at each timestep? Any advice would be greatly appreciated!

Thank you so much,
Melanie Hook


The paper describing the torque profile I am trying to validate can be found here: https://www.sciencedirect.com/science/a ... Dihub#fig2