I am doing inverse dynamics in Matlab simmechanics in which position and orientation will be input to the end effector. But it shows error as below.
Error originates in Mechanical block rob33/Subsystem2/Subsystem1/Custom Joint. The coordinate systems attached to this joint must lie on the prismatic axis (for 1 axis) or in the plane of the prismatic axes (for 2 axes). If joint has no prismatic axes, the attached coordinate systems must be collocated, within tolerances.
Model is given below.
In subsystem1, I used custom joint to give orientaion input. Susystem1 model and custom joint block parameters is given below figure.
Parameters of link1-1 and parallel constaints is given in below figure.
I read these two answers but unable to understand.
How to solve this error?