Spherical Joint as 3 Revolute Joints

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riczan
Posts: 3
Joined: 21 Mar 2017, 10:33

Spherical Joint as 3 Revolute Joints

Postby riczan » 21 Mar 2017, 11:11

Hi,

I need to create a spherical joint as a cascade of 3 revolute joints, but if I do it as explained here http://www.coppeliarobotics.com/helpFiles/en/jointDescription.htm, it doesn't work, there is no way to connect 2 shapes. I tried all the control modes on the 3 the joints and almost any other setting, but nothing. Can you tell me how to do it please?

Image

coppelia
Site Admin
Posts: 6058
Joined: 14 Dec 2012, 00:25

Re: Spherical Joint as 3 Revolute Joints

Postby coppelia » 22 Mar 2017, 13:41

Hello,

if you want to do a dynamic simulation, where your shapes have mass and inertia, then you need to carefully follow the rules from this page.
So instead of having following:

Code: Select all

shape1 --> joint1 --> joint2 --> joint3 --> shape2


you need to have something like:

Code: Select all

shape1 --> joint1 --> auxShapeA --> joint2 --> auxShapeB --> joint3 --> shape2


Cheers

riczan
Posts: 3
Joined: 21 Mar 2017, 10:33

Re: Spherical Joint as 3 Revolute Joints

Postby riczan » 29 Mar 2017, 10:38

Ok, thanks.


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