Child joint movement causes motion in parent joint if axes are coincident

asked 2022-03-22 08:33:37 -0500

Veverest gravatar image

I have a robot with 2 revolute joints with coincident axes. The motion of the child joint causes motion in the parent joint and I can not figure out the reason for it. When the child is given a target position, both joints start to move: the child towards the target and the parent in seemingly random oscillations. My guess for it is angular momentum conservation but I am not sure. Has anyone faced this issue before? How can I get around it? Thanks.

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