error : "Planar Joint Planar_Joint has base and follower ports that are rigidly connected"

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Anish Mahajan 2017-3-6

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https://ww2.mathworks.cn/matlabcentral/answers/328379-error-planar-joint-planar_joint-has-base-and-follower-ports-that-are-rigidly-connected

评论： Manohar Bhat 2020-7-22

I am trying to connect a planar joint block with world frame as base and robot body as follower but i get this error "Planar Joint Planar_Joint has base and follower ports that are rigidly connected" Cant figure out the solution please help.

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回答（1 个）

Gillian Rosen 2017-3-13

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Hi Anish,

I understand that you are seeing the error "Planar Joint Planar_Joint has base and follower ports that are rigidly connected" when you try to simulate your model, which has a planar joint connected to the world frame (as the base) and a robot body (as the follower).

I have noticed that this error occurs when the robot body is connected to both sides of the planar joint block. As the error states, in this situation, the planar joint's base frame (the world frame) is connected to the joint's follower frame via the robot body. To resolve this error, try disconnecting the robot body from the world frame, and only connect it to the follower frame.