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: https://drive.google.com/file/d/1wrrz_INgDwK4uLLkyF4flLDyiFW6VeXl/view?usp=sharing