Combining 2 joints
Posted: 04 Nov 2018, 22:24
Hello!
I am making a simulation of the robot shown in the pictures above. While creating a dynamic model I encountered a problem.
As you can see, the second link is actuated by prismatic joint (Joint2). However, it seems that I need to add extra revolute joint (Revolute_joint) to constrain second link motion properly.
I have tried to link these joint with Link2 in different ways and enabling various joint modes (passive/torque etc). But I still could not able to achieve desired result.
My initial idea was to make both joints as a parent for Link2 in hierarchy tree, but as I found it is not possible to have 2 parents for one child.
What would be the best way to resolve this issue, or is there any possible workaround?
Thanks,
Jevgeni
I am making a simulation of the robot shown in the pictures above. While creating a dynamic model I encountered a problem.
As you can see, the second link is actuated by prismatic joint (Joint2). However, it seems that I need to add extra revolute joint (Revolute_joint) to constrain second link motion properly.
I have tried to link these joint with Link2 in different ways and enabling various joint modes (passive/torque etc). But I still could not able to achieve desired result.
My initial idea was to make both joints as a parent for Link2 in hierarchy tree, but as I found it is not possible to have 2 parents for one child.
What would be the best way to resolve this issue, or is there any possible workaround?
Thanks,
Jevgeni