- Switch to a Gimbal Joint. This also permits 3 degrees of freedom, and you can motion actuate each one. Just make sure you don't go into gimbal lock, where two of the degrees of freedom are aligned.
- Use a PI or PID controller to control the torques to achieve the positions you want.
How can i control Spherical Joint in Simscape Multibody?
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I am trying to control the arm in the picture with the simulink model as shown below. Even when I don't give any input, spherical joint moves on its own uncontrollaby.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1306545/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1306550/image.png)
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Steve Miller
2023-2-27
Your model is moving due to gravity. The inputs you have specified are torques, not motions. If you apply 0 torque, the arm will move like a spherical pendulum.
Here are two options:
--Steve
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