Error in rigid body simulation
 

Hi, In a ridid body simulation I get the next problem.


* Point 90 : 264.494074 226.399433 -93.291688 Normal -0.000000 0.998185 0.060215 Violation -8.958018e-011 NormalVel -3.993559e-012 -7.923145e-012 1 2 734 997 00
* Point 91 : 264.494074 226.639598 -93.883704 Normal -0.000000 0.758020 0.652231 Violation -1.841433e-010 NormalVel -2.027420e-012 -4.012020e-012 1 2 734 997 00
Murty algorithm failed, trying PSOR
Small pivot found during PSOR LCP solve
PSOR algorithm failed, Abort

No set of active contact stops can satisfy all the constraint equations. Solve cannot proceed

Solve failed
Error found at time 2.800000e-001


Solution terminated before normal completion


Total number of time steps: 7
Average time step: 0.04

Number of rejected time steps: 0
Number of discontinuities: 0
Number of saved transient configurations: 8
Maximum relative error: 1.48466e-011 (%)

End of Transient Simulation. CPU Time 31.1406 Elapsed Time 129.214


Analysis of model redundancies:
Joint Revolute - DPMPLink-1 To FD-1 shows some constraint redundancies
Z Translation constraint equation was at time redundant
X Rotation constraint equation was at time redundant
Y Rotation constraint equation was at time redundant


The simulation is from 0 to 5 seconds. It only solves 8 steps aprox.
DPMPLink-1 To FD-1 joint detail is attached and solution configuration.

Thanks.