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Theory Manual Version 3.6
 Subsection 7.9.6: Prescribed Joint Motion Up Subsection 7.9.6: Prescribed Joint Motion Subsubsection 7.9.6.2: Prescribed Rotation at Joint 

7.9.6.1 Prescribed Displacement at Joint

When a joint has a translational degree of freedom along , there may be a need to prescribe the relative displacement along that direction. This can be achieved by supplementing the joint reaction force with a force that closes the gap between the current and desired translation, where is given in (7.9.4.1-3). Then, Using the results of Section 7.9.4.1↑, the stiffnesses are supplemented with
 Subsection 7.9.6: Prescribed Joint Motion Up Subsection 7.9.6: Prescribed Joint Motion Subsubsection 7.9.6.2: Prescribed Rotation at Joint