I am trying to model a window washer robot and control its motion interactively. In my model, some revolute joints are active and controlled by motion input, while some others are not actuated and act just as passive joints.
I need a joint that can be turned on or off manually during simulation. I mean, sometimes It has to be a passive joint (but engaged), and sometimes it needs to be actuated. I wish to be able to switch between these two modes during simulation, as many times as I would like.
In real world, we can turn a servomotor on or off during operation, making it a controllable active joint or a passive one with its own internal mechanics. How should I simulate it in simscape multibody?