diff --git a/SimDynamics/DynamicsEngine/DynamicsRobot.cpp b/SimDynamics/DynamicsEngine/DynamicsRobot.cpp
index cd30efb8f87f0ac28eea3c9897b32867f2bc5d02..b9d252f78c4aff2e95a57418fcc24c232f75bb19 100644
--- a/SimDynamics/DynamicsEngine/DynamicsRobot.cpp
+++ b/SimDynamics/DynamicsEngine/DynamicsRobot.cpp
@@ -211,6 +211,12 @@ namespace SimDynamics
 //            target.jointValueTarget = oldTargetIt->second.jointValueTarget;
 //        }
 //        else
+        if(std::abs(jointVelocity) < 1e-10)
+        {
+            //do not move
+            target.jointValueTarget = oldTargetIt->second.jointValueTarget;
+        }
+        else
         {
             target.jointValueTarget = node->getJointValue();
         }