How can I actuate spherical joint of Simscape/Multibody not by torque but by motion?
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For prismatic primitive, actuation includes motion. But for spherical primitive, torque is exclusive.
Is there any way to actuate the spherical primitive by motion?
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Accepted Answer
Steve Miller
on 1 Dec 2021
Through R2021b, the Spherical joint can only be directly actuated using a torque.
You do have options for actuating a joint that specifies 3 rotational degrees of freedom. One option is to use a gimbal joint instead (also permits three rotational primitive degrees of freedom; make sure the degrees of freedom do not become aligned).
--Steve
2 Comments
Tom Rottier
on 17 May 2022
Edited: Tom Rottier
on 17 May 2022
Is there a reason why this is the case?
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