How can I actuate spherical joint of Simscape/Multibody not by torque but by motion?

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Adam Turner 2021-12-1

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编辑： Tom Rottier 2022-5-17

采纳的回答： Steve Miller

For prismatic primitive, actuation includes motion. But for spherical primitive, torque is exclusive.

Is there any way to actuate the spherical primitive by motion?

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Steve Miller 2021-12-1

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Through R2021b, the Spherical joint can only be directly actuated using a torque.

You do have options for actuating a joint that specifies 3 rotational degrees of freedom. One option is to use a gimbal joint instead (also permits three rotational primitive degrees of freedom; make sure the degrees of freedom do not become aligned).

--Steve