How to limit the revolute joint

Hi, I'm using Simscape Multibody to make 2-link Acrobot simulation. The question is, that how can I limit the rotation angle of the actuating revolute joint. I tried applying rotational hard stop block in Simscape Multibody Multiphysics Library, but then the revolute joint won't actuate at all.

Answer 1

[Sebastian Castro]

The solution you presented is correct -- if you use the Simscape Multibody Multiphysics Library, you can apply a penalty torque when the joints hit their limits. This works fine if you're actuating your joint using torque signal.

What didn't work in that solution?

- Sebastian