@Joe Riel 

Hi

Its a multybody revolute joint and I found Kd, thanks for the directions.

Mvh

Eric R

Hi 

and thank you for youre help. It was the missing opperator.

Thanks again

Eric R

Hi

Thank you again.

Mvh

Eric Ragnarsson

Thanks for all of youre help. It worked perfectly. 

Thanks again

Eric Ragnarsson

@Joe Riel 

It worked perfectly, thanks again!

@Joe Riel 

Hi again and thanks for you're help. I implemented my matrix using youre template however I got an intresting error.

As I understands it, this is due to the 

Matrix(r, c, init, ro, sym, sc, sh, st, o, dt, f, a)

function that the simulink matrix is made for but why it is not working is another question. Do any wise person out there know posibly why?

Thanks again for all help

Eric Ragnarsson

@Joe Riel 

Hi

I think it is an algebraic loop as well, it is proberbly connected to two sperical joints that are supporting a prismatic joint. This was my way of trying to emulate a spring but is clerly wrong. 

So I need to find a spring component that is capable of moving in 3 directions. (being fixed to ground in one side and the other side conedcted to a 6 dof robot end effector) Any sugestions?

Thanks for your help

Eric R

PS trying to upload the model, a bit new to maplesim.