The ability to limit the range of a joint was added to the joint blocks in release R2019a.
Prior to R2019a, you need to:
- Sense the position and velocity of the joint
- Use Physical Signal blocks to calculate the force/torque that will resist the joint's motion if it leaves the range (something like a deadzone block)
- Apply the force/torque as an input to the joint
There are examples here for releases going back to R2015a
--Steve
