Page 1 of 1

3 DoF Revolute joints like spherical joint

Posted: 14 Jun 2021, 09:21
by SitStudent
Hi

I make the scene that dynamics model with 3 Revolute Joints behave same as like kinematics model.
I attached a URL of movie, so please look at this.
https://drive.google.com/file/d/10VS7Yn ... sp=sharing

X axis and Z axis rotation is exactly same as kinematics model(Cylinder).
However, Y axis rotation is different.

I guess this cause from a mathematical problem but, is there solution this problem?

Sincerely,

Re: 3 DoF Revolute joints like spherical joint

Posted: 15 Jun 2021, 07:30
by coppelia
Hello,

you just have a problem with the order of your joints and possibly also with the sign. Your 3 revolute joints should obviously perpendicular with each other. The Z axis should be mounted on the Y axis, itself mounted on the X axis.

But your right cylinder is initially not aligned with the world.

Cheers

Re: 3 DoF Revolute joints like spherical joint

Posted: 15 Jun 2021, 16:58
by Muneeb
Hello!
In my opinion, your cylinders have been marked collidable from scene object properties ---->common. That's why during movement across the x-axis and z-axis it is working fine. But, cylinders collide with each other across the y-axis.
Either you make objects uncollidable or place them at a suitable distance.

Re: 3 DoF Revolute joints like spherical joint

Posted: 16 Jun 2021, 14:20
by coppelia
In next release (V4.2.0+), there will be a scene illustrating exactly this: scenes/eulerAngles.ttt
You may contact us to get it in the mean time.

Cheers

Re: 3 DoF Revolute joints like spherical joint

Posted: 17 Jun 2021, 04:54
by SitStudent
thank you for your advices.

I changed the order of joins and it looked better.
If there is a preparation for solution of it, I'm going to contact CoppeliaSim.