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How to stabilize Configurable Joint in a hierarchy

Discussion in 'Physics' started by kornel-l-varga, Oct 7, 2019.

  1. kornel-l-varga

    kornel-l-varga

    Joined:
    Jan 18, 2013
    Posts:
    37
    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?