Simscape: High priority position target not achieved

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Nikita Sirons
Nikita Sirons 2017-10-13
评论： Nikita Sirons 2017-10-16
I have two "actuators" which are connected to the cylinder. Cylinder is connected to Universal Joint which sets initial conditions (its orientation only). So whole system should act almost like a pendulum. Problem is that system works nominally when only Actuator II is present (right side of the model). However, when exact copy of it (Actuator I) is added to the model, system could not meet initial conditions, and could swing only in single plane (X or Y), and it can`t do "diagonal" movement. Even if only Actuator I is present, still the same problem occur. I have no idea what may caused such problem, because both actuators are similar to each other. Kinematics of the model should be valid.
I assume that either I did crucial mistake with rotational transformations or joint is not connected properly either solver configurations should be adjusted to be able to solve eq.
I have added test version of the model, so you could have a look.

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Nicolas Schmit
Nicolas Schmit 2017-10-16
In test_actuators/Engine+Actuator, replace Revolute Joint I and Revolute Joint II with Spherical Joints. You don't have enough degrees of freedom with revolute joints.
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Nikita Sirons
Nikita Sirons 2017-10-16
Yeah, I tried that and it worked.
But why "Actuator II", individually, works fine with Revolute Joint II, it could move in any X,Y direction, but the copy of it with Revolute Joint could not move in 2 directions (failed to meet high priority position target)

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