🔗Constraints

Constraints define how the motion of certain degrees of freedom (DOFs) at one node depends on the motion of DOFs at another node. In other words, constraints link nodes together so that their movements follow specified relationships.

They are often used to:

Tie two nodes to move together (rigid links)

Enforce symmetry or anti-symmetry conditions

Define proportional motion between nodes (e.g., gear or lever effects)

MPCs reduce the model’s independent DOFs and must be used carefully to avoid over-constraining the system.