I am working with a Ball & Plate, when using the 6 DOF joint, the ball moves in the Y axis infinitely. What type of joint should I use and with what configuration should it be? to make the ball roll over the plate as it moves and sense its movement.
I would strongly recommend to use the latest release (2020a) where we implemented contact forces natively and take a look at following example. Use a 6 DoF between ball and world, but create a contact force relationship between plate and ball: