I'm currently building a nonlinear model of a motorcycle in Simscape Multibody. I have the following problem:
- The rear frame of the motorcycle is connected to the world coordinate system with a 6 degrees of freedom joint, so that it can move freely in the world
- For sensing and camera purposes, I want to create a frame, which has the same alignment of the x-axis as the moving rear frame of the motorcycle, but itself is not translating and thus has its origin in the world coordinate system.
I've already tried several ways:
- Sensing the rotation of a rotation joint and connect the physical signal to the actuator port of another rotation joint, which leads to the error, that this type of physical connection is not allowed
- Adding a rotation joint between the camera frame and the world coordinate system and an angle constraint between the camera frame and the motorcycle. But this leads to the error ".. degenerate mass distribution on its follower side.". If I connect a mass with a moment of inertia to the camera frame, everything works, but this doesn't correspond to the reality, as the motorcycle then has to put on a moment to move the camera frame.
There has to be a way to solve this properly!
Thanks for your help.