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From looking at your joint description you have set the damping and friction values of the joints to zero. With no friction, once a torque is applied the joint will rotate until a counteracting torque is applied.
Likewise with the joint between arm2 and arm3 has no friction. Thus with no torque and no friction to hold the relative position, the joint will rotate due to the mass of the arm3 link.
I would suggest adding some friction to the joints and seeing if this resolves your problem.
| | 2 | No.2 Revision |
From looking at your joint description you have set the damping and friction values of the joints to zero. With no friction, once a torque is applied the joint will rotate until a counteracting torque is applied.
Likewise with the joint between arm2 and arm3 has no friction. Thus with no torque and no friction to hold the relative position, the joint will rotate due to the mass of the arm3 link.
I would suggest adding some friction to the joints and seeing if this resolves your problem. problem.
edit: just realised you want a specific angle - I expect you will need some form of PID feedback controller to generate the joint effort required to reach your goal angle.
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