Search found 28 matches

by javl0p
30 Jun 2017, 09:20
Forum: General questions
Topic: How can I export simulation results to Matlab?
Replies: 10
Views: 2812

Re: How can I export simulation results to Matlab?

I have a question that has something to do with this topic.

Can I write in the same file (without reseting it) by calling file:write functions from different child scripts?

If positive, how could it be done?

As always, thanks for the help!
by javl0p
29 Jun 2017, 15:59
Forum: General questions
Topic: Problem with turning joint - simSetJointPosition
Replies: 2
Views: 853

Re: Problem with turning joint - simSetJointPosition

Hi! I've been testing a little bit, exploring the use of simSetJointPosition in non-threaded child scripts. From what I found, this command results to be problematic and only allows to move the joint a small value at a time. Is there any way to change this? To clarify, I post a scene in which i make...
by javl0p
28 Jun 2017, 15:06
Forum: General questions
Topic: Problem with turning joint - simSetJointPosition
Replies: 2
Views: 853

Problem with turning joint - simSetJointPosition

Hi again! Here I have the following scene: https://www.dropbox.com/s/ut5j1lvttuu2pt1/Global_optimizer.ttt?dl=0 In this scene I'm trying to make my robot move by using non-threaded child scripts. The motion is created by actualizing the position of the robot at every simulation step. The problems hav...
by javl0p
28 Jun 2017, 10:21
Forum: General questions
Topic: Running Non-threaded child scripts in parallel
Replies: 1
Views: 830

Running Non-threaded child scripts in parallel

Hi! I have one question. Considering I have a program which contains multiple non-threaded child scripts, are they run in parallel? I mean, every simulation stage (initialization, sensing, actuation) is run at the exact same time? Will having multiple non-threaded child scripts make my simulation mu...
by javl0p
26 Jun 2017, 12:53
Forum: General questions
Topic: Limitations in iiwa 14
Replies: 2
Views: 1085

Re: Limitations in iiwa 14

Thanks for the answer. Actually, the problem came from the fact that the default max. torques in the iiwa 14 joints are much smaller than the ones specified by KUKA's catalogue, so once these limits were reached, the iiwa would inevitably fall. I have updated these values and the robot seems to work...
by javl0p
21 Jun 2017, 08:53
Forum: General questions
Topic: Limitations in iiwa 14
Replies: 2
Views: 1085

Limitations in iiwa 14

Hi! I'm using VREP in order to explore the limitations of an iiwa 14 robot based on its joint torque limits. I created a simple scene in which I make the robot move in a straight line while applying a vertical force (as it was the weight of an object) to the end effector. I already tried with loads ...
by javl0p
19 Jun 2017, 13:21
Forum: General questions
Topic: Using table value as an arithmetic variable
Replies: 0
Views: 982

Using table value as an arithmetic variable

[I HAVE ALREADY FOUND A SOLUTION, DON'T BOTHER TO ANSWER] Hi coppelia, I'm implementing some code in VREP in which I have to do some calculations with the measured variables I obtain from the simulation. Here the code: harrington_f=function(y,limit) ub=limit*0.9 lb=limit dlb = 0.01 dub = 0.99 lb = 3...
by javl0p
16 Jun 2017, 14:20
Forum: General questions
Topic: Problem whit IK when explicit handling
Replies: 1
Views: 812

Problem whit IK when explicit handling

Hi coppelia, I'm working on the following simulation: https://www.dropbox.com/s/pxmm2egg02poam1/iiwa_test3_variable_domain.ttt?dl=0 My intention is to study the posibilities of using the redundancy parameter for a fixed end effector position. So far I have created a non-threaded child script that ch...
by javl0p
16 Jun 2017, 09:01
Forum: General questions
Topic: Applying a Constant Force
Replies: 6
Views: 1758

Re: Applying a Constant Force

Ok thanks coppelia! I'll implement that right away! Going back to the point of applying forces over a IK constrained system: when applied forces are bigger (over 100 N generlly), the robots start to act crazy. What can I do about it? EDIT: I simulated with the new actualization (3.40) and the proble...
by javl0p
14 Jun 2017, 14:57
Forum: General questions
Topic: Applying a Constant Force
Replies: 6
Views: 1758

Re: Applying a Constant Force

Hi coppelia, thanks for the fast answer. I already fixed the problem with simAddForceAndTorque by putting a if w~=nil then command before the action takes place. Regarding the forces put on top of the IK action, Is that really problematic? Because that is exactly what I intend to do, to subject the ...