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Joint positions violated - how to enforce more strongly?

I have a closed loop chain which seems to work well, but when applying large forces some joint positions may be violated.

Is there a way to enforce the joint position more strongly? Maybe something similar to ERP value in the physics tab?

Can joints break? Maybe the joint broke which is why its position is violated.

Thanks in advance!

Joint positions violated - how to enforce more strongly?

I have a closed loop chain which seems to work well, but when applying large forces some joint positions may be violated.

I have managed to improve this by increasing the erp value in the ode physics tab for that joint. This has reduced the error in position but it is still not correct.

Is there a another way to enforce the joint position more strongly? Maybe something similar to ERP value in the physics tab?

Can joints break? Maybe the joint broke which is why its position is violated.strongly?

Thanks in advance! advance!