Spherical joint controlled by parallel manipulator

[KKW]

Hi coppeliaSim,
as the subject said, I am now facing the parallel manipulator setting problem, hope you or other users can help me with it :)

here is my scene: https://drive.google.com/file/d/1-thaE7 ... sp=sharing, where I set one passive revolute joint for each active revolute joint (replace the spherical with 2 revolute)

The robot will be controlled though python remote API by just setting the joint target velocity, like the real world interaction with motors, thus, I set the 2 dummy point in the "dynamic, overlap constraint" mode, and drop the inverse kinematic method for this.

However, the outcome is quite strange, the end-effector just rotates around only one active joint, seems like motor stall, but increasing the Max Torque of them didn't help, so I doubt the joint setting part, but still can't find the error.

I also referred some setting from the question here: https://forum.coppeliarobotics.com/view ... f=9&t=7224, and set up a similar one with the scene:https://drive.google.com/file/d/1y8I9i3 ... sp=sharing, still failed...

Maybe you can help me with it?

[KKW]

Found the scene error, the objects have collision, let me solve it first and come back to you...

[KKW]

Still got the same result: rotating around only x either y, depending on which one has bigger max force.

Things I also tried, but failed:
1) all the parts have similar mass 0.1-0.2 and principal moment of inertia / mass 0.1 for x,y,z.
2) deselect the responsible option for all "respondable" shapes in the scenes, to ignore the collision
3) tried the above 2 on the first and last scenes.

Can you help me with it?

[KKW]

Made a stupid mistake, now everything fine. If someone faces the same thing, add one more passive revolute joint in z direction.