How can I actuate spherical joint of Simscape/Multibody not by torque but by motion?

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For prismatic primitive, actuation includes motion. But for spherical primitive, torque is exclusive.
Is there any way to actuate the spherical primitive by motion?

Accepted Answer

Steve Miller
Steve Miller on 1 Dec 2021
Through R2021b, the Spherical joint can only be directly actuated using a torque.
You do have options for actuating a joint that specifies 3 rotational degrees of freedom. One option is to use a gimbal joint instead (also permits three rotational primitive degrees of freedom; make sure the degrees of freedom do not become aligned).

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