我做的是一个螺旋副的机器人，在刚开始运动时没有问题，但是当螺母运动到一定位置时就出现以下问题，这个问题是怎么引起的呢。希望有做这方面的一起交流。
WARNING: The symbolic refactorization failed. The matrix is structurally singular
at time = 0.40088.
WARNING: After 50 iterations of the calculations for the initial conditions, the
mechanism has been assembled with a maximum-magnitude error of 16.869
which does not satisfy the specified tolerance of 1.0E-10 .
WARNING: The symbolic refactorization failed. The matrix is structurally singular
at time = 0.40088.
WARNING: After 50 iterations of the calculations for the initial conditions, the
mechanism has been assembled with a maximum-magnitude error of 16.869
which does not satisfy the specified tolerance of 1.0E-10 .
WARNING: The symbolic refactorization failed. The matrix is structurally singular
at time = 0.40088.
WARNING: ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
NOTE: The set of redundant constraints has changed at time = 0.40088.
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
发表于 2009-10-10 17:02:29
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