Search found 27 matches

by BiancaSan93
29 Jul 2019, 11:03
Forum: General questions
Topic: UR5 model accuracy
Replies: 1
Views: 234

UR5 model accuracy

Hi, I am working with the UR5 model already present in the V-Rep model library. Are the dynamics parameters (mass, inertias, com...) preset in the model accurate with respect to the actual robot? If so, were such parameters provided by UR? Otherwise, is it possible to know how they were computed? Th...
by BiancaSan93
12 Jan 2019, 20:35
Forum: General questions
Topic: Retrieve derivative of data stream real time
Replies: 1
Views: 552

Retrieve derivative of data stream real time

Hi, Using the graph object, I am computing the derivative of the data stream plotted during the simulation. How can i retrieve that value (i.e., after performing derivative on the signal) at each step in a script? I figured sim.handleGraph would do the trick but I don't understand where the result i...
by BiancaSan93
04 Jan 2019, 16:38
Forum: General questions
Topic: Add disturbance on control signal
Replies: 3
Views: 697

Re: Add disturbance on control signal

Hi, thanks for the reply. However, I still have doubts about it, what is the control variable? Assuming I want to track it on a graph, which data stream should I pick?
EDIT: I need to know specifically the torque exherted by the joint. Is it possible?
by BiancaSan93
03 Jan 2019, 20:34
Forum: General questions
Topic: Add disturbance on control signal
Replies: 3
Views: 697

Add disturbance on control signal

Hi, I have a dynamically enabled joint (force/torque mode) that uses the "default" PID control loop. However, I need to access the control variable (which I assume is a torque) to do some evaluations. How do I read the control signal? Is it possible to add an external signal to it before it goes int...
by BiancaSan93
07 Dec 2018, 16:01
Forum: General questions
Topic: Blob orientation
Replies: 1
Views: 576

Blob orientation

Hi, I am making some experiments with the blob detection camera, in order to detect the orientation of some objects in the scene, but I am unsure about the returned value. I only have one blob and my code is res1,packet1a,packet1b=sim.handleVisionSensor(sensor1) if res1 >=0 then q1=packet1b[4] q1=q1...
by BiancaSan93
06 Dec 2018, 15:02
Forum: General questions
Topic: Joint space trajectory planning?
Replies: 3
Views: 850

Re: Joint space trajectory planning?

Hi, thank you as usual for your quick and kind reply. I understand how you can set a target position and make the joint follow it. However, I was wondering if it was possible to manually design the trajectories in the joint space, as you would with a path in the cartesian space. For example, I want ...
by BiancaSan93
05 Dec 2018, 16:50
Forum: General questions
Topic: Joint space trajectory planning?
Replies: 3
Views: 850

Joint space trajectory planning?

Hi,
I need the joints in my robot model to follow a sinusoidal reference signal in the joint space. I find a lot of tutorials for motion planning in the cartesian space, but none in the joint space. Is there a way to do that? How do I define a trajectory for the joints to follow?
Thanks
by BiancaSan93
05 Dec 2018, 16:23
Forum: General questions
Topic: Visualize Simulink model in V-rep
Replies: 2
Views: 698

Re: Visualize Simulink model in V-rep

Hi, thank you for the reply. I have checked the remoteApi for matlab and have no problem interfacing with a .m script to remotely control the robot. However, I do not find any instruction on how to do so through simulink. Is there any way to interface it directly?
by BiancaSan93
04 Dec 2018, 17:52
Forum: General questions
Topic: Visualize Simulink model in V-rep
Replies: 2
Views: 698

Visualize Simulink model in V-rep

Hi, I have the dynamical model of my manipulator (planar 3 DOF) implemented in Simulink, with identified parameters. I do not know individual mass, inertia matrix of each link, but the model has been identified on the basis of real data by a previous student. This way, I am unable to reconstruct the...
by BiancaSan93
07 Sep 2018, 14:29
Forum: General questions
Topic: Make object move randomly within a given area
Replies: 1
Views: 650

Make object move randomly within a given area

Hi,
I need to reproduce the random motion of a sphere within an horizontal square area. Are there any ready methods to use? If not, what is the best way to achieve this?
Thanks in advance