How to stabilize Configurable Joint in a hierarchy

Hi all!

I am trying to create an arm with a 5 level hierarchy of configurable joints.
The system should be affected by the gravity but should be barely noticable.
I ended up using low mass and angularYZ drive/spring combined with the target rotation.

Everything seems almost fine, except for the pushback when down the chain a joint gets a strong torque movement. I mean its accurate, and the one up joint is being affected by the force as it should be however I am looking for a solution to make that upper joint more stable.
I tried Damp,Drag even extra damping from script, but the kick-back is still present.



example:
Joint1>>Joint2>>Joint3>>Joint4>>Joint5

Action on Joint4: Target rotation = 0,0,45 (angular drive spring 1000 damp 150)
Joint3 gets a gigantick kick back.

Is there any way to keep the joints more stable?

 

Hey! I'm having the same issue.
Did you ever find a solution to this? @kornel-l-varga