SimMechanics Planar joint trouble shooting

Question

Dennis Tan 2011-2-13

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1269-simmechanics-planar-joint-trouble-shooting

I have a planar joint between two bodies.

error occur with the following note:

Coordinate systems CS2@Body1, CS2@Body on the highlighted Bodies have mutually dependent definitions. Remove mutual dependencies among coordinate systems so that at least one coordinate system is directly or indirectly referenced to World.

Please advice.

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Dennis Tan 2011-2-15

thanks martin.. i initially thought thats the right thing to do.

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Answer 1

Martin 2011-2-14

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1269-simmechanics-planar-joint-trouble-shooting#answer_1951

The key thing to observe in that error message is 'mutually dependent definitions'. This can occur when one CS is defined with respect to the second, and the second is defined with respect to the first.

I could reproduce this issue by connecting two bodies to a joint. The coordinate systems connected to the joint were both defined from Adjoining. As both reference each other, they are not defined in the global frame.

As the error message states, make sure that one of them is directly or indirectly referencing the World frame.