Paolo Langella

Hello Peter,

Thank you for your reply. I'm still having some issues with convergence but my doubt is why do I have a lot of substeps that converge but the solution doesn't? And also there is no error message.

Then, I was wondering if I could get a feedback about my model because my goal is to move to a more complex one with six links and the wires attached to the last link. I want to evaluate the force which is necessary to keep the robot straight in an orizontal position.