How can I actuate spherical joint of Simscape/Multibody not by torque but by motion?

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Adam Turner
Adam Turner 2021 年 12 月 1 日
編集済み: Tom Rottier 2022 年 5 月 17 日 15:58
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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Steve Miller
Steve Miller 2021 年 12 月 1 日
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
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Tom Rottier
Tom Rottier 2022 年 5 月 17 日 15:58
Is there a reason why this is the case?

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