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
Hassan Jardali on 3 May 2021
Edited: Hassan Jardali on 3 May 2021
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.

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