Joints leave their directions

[Schindler]

Hello,

I have built a new robot. This robot has 6 degrees of freedom, it is in the inverse kinematics mode. I defined the robot as described int the tutorial "inverseKinematicsTutorial".
I want the robot's tip to follow a target which moves on a path.
My problem is that the robot's joints leave their restricted directions. It seems that the joints are destroyed during the movement: In the simulation I can see the joints: The thin blue cylinders leave the thick orange cylinders.

Thanks for your help

[coppelia]

Hello,

It seems that your dynamics are badly designed. Make sure to follow the dynamics design considerations (mainly points 6, 7 and 8), and read also this post.

Cheers