degenerate mass distribution on its follower side.

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I'm trying to simulate a 3 Link swimmer robot in fluid environment.
The simulation is working fine for angle less than 45degrees to the two revolute joints.
But when I try to increase the angle further it gives error .
The link is connected to the world frame through 6-DOF joint.
Link to the simulation file:

Answers (1)

Sulaymon Eshkabilov
Sulaymon Eshkabilov on 6 Jun 2021
If you are using a variable step solver (by default) in your model sim, then you'd need to try with fixed step solver and tighten the abs and rel error tolerances.

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