Search found 7 matches

by BiancaSan93
29 Jul 2019, 11:03
Forum: General questions
Topic: UR5 model accuracy
Replies: 1
Views: 691

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: 993

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: 1227

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: 1227

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 i...
by BiancaSan93
07 Dec 2018, 16:01
Forum: General questions
Topic: Blob orientation
Replies: 1
Views: 1320

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
29 Apr 2017, 14:30
Forum: General questions
Topic: Inverse Kinematics and hybrid operation mode
Replies: 3
Views: 3235

Re: Inverse Kinematics and hybrid operation mode

Thank you for your kind reply.
I need to reproduce a scenario that is as similar as possible to a real life situation. In this case, should I operate in hybrid mode?
by BiancaSan93
25 Apr 2017, 17:55
Forum: General questions
Topic: Inverse Kinematics and hybrid operation mode
Replies: 3
Views: 3235

Inverse Kinematics and hybrid operation mode

Good evening, I'm relatively new to V-REP and I'm trying to get a hold of the environment. I need to experiment with inverse kinematics but I don't quite get the results I'm expecting. I'm using the UR10 manipulator: I followed the tutorial about IK and created the IK group with IK elements and ever...