kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block and Model Configuration Parameters. Kinematic Singularity

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Hassan Jardali 2021-5-3

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https://ww2.mathworks.cn/matlabcentral/answers/820805-kinematic-constraints-cannot-be-maintained-check-solver-type-and-consistency-tolerance-in-the-simsc

编辑： Hassan Jardali 2021-5-3

I'm using simscape to model ball and plate control system. It worked well for the first servo motor. However, when I'm connecting the second servo, I'm having the following error: " 'simscapenew/Revolute Joint1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem. "

I used the Transform sensor to make sure that the Base and Follower of the revolute joint are aligned: I found that the coordiantes are 1e-40 ish different than 0.

I tried to:

Change the Simscape solver configuration type and the consistency tolerance: If I use a tolerance around 1e-09 I'll have the above error, if I use a tolerance about 1e-20 I'll have error mentioning that the model is not assembed (logical), and if I use a tolrance about 1e-01 the model will run but the relations are not met, as if there's no joint.
I also tried ried to change Simulink Solver Parameters from the Model Configuration Parameters (used both fixed and variable; changed the step size...), but I'm always having the same errors.

What can I do in this case? I attached to this question the simscape model.