Search found 21 matches

by Bellinsbauer
13 Sep 2018, 08:58
Forum: General questions
Topic: Inverse kinematics calculation module
Replies: 1
Views: 99

Inverse kinematics calculation module

Good morning, I would like to have if it is possible more informations about the properties "ignore max step sizes" and "damping" of the inverse kinematics calculation module. I'm comparing two manipulators, a traditional SCARA and a redundant SCARA, in terms of time took to bring an object from one...
by Bellinsbauer
31 Aug 2018, 13:47
Forum: General questions
Topic: Joint velocity
Replies: 0
Views: 169

Joint velocity

Good morning. I am wondering if V rep has a function which retrieves, instead of the joint position values as in sim.checkIkGroup, the joint velocity values, those obtained knowing the inverse of the Jacobian and the velocity of the gripper ( Q°=J^(-1)*S° ). In my task I'm using sim.rmlPos to follow...
by Bellinsbauer
20 Aug 2018, 10:10
Forum: General questions
Topic: sim.rmlPos ?
Replies: 0
Views: 139

sim.rmlPos ?

Good morning, I'm using "sim.rmlPos" in order to follow some objects placed on a convejor belt with my Scara robot. This should be done in inverse kinematics mode. Therefore, I decided to calculate the joints positions with "sim.checkIkGroup" and pass them to "sim.rmlPos". I put this in a while-loop...
by Bellinsbauer
16 Aug 2018, 18:10
Forum: General questions
Topic: Doubt about sim.rmlPos
Replies: 11
Views: 547

Re: Doubt about sim.rmlPos

I find something that works quite good. There just a thing that doesn't work as it should. Once the simulation enters in the loop, in where I tell the robot to follow the object, it does not exit anymore. It continues to follow the object, but it never reaches it. https://www.dropbox.com/s/gmvux5dip...
by Bellinsbauer
10 Aug 2018, 16:04
Forum: General questions
Topic: Problem with Ik configuration
Replies: 9
Views: 386

Re: Problem with Ik configuration

Is it possible for you to post the scene of that script? Because it's a bit tough for me to understand what happens.
Thank you for you help
by Bellinsbauer
10 Aug 2018, 15:37
Forum: General questions
Topic: Doubt about sim.rmlPos
Replies: 11
Views: 547

Re: Doubt about sim.rmlPos

Ohh, ok, now it's clear!
Is there a possibility to make the movement profile for the joints ( like in the RMLExamples.ttt) but in inverse kinematics mode?
by Bellinsbauer
10 Aug 2018, 10:50
Forum: General questions
Topic: Doubt about sim.rmlPos
Replies: 11
Views: 547

Re: Doubt about sim.rmlPos

I made a simpler example as you suggested. Here there are just two joints, the object doesn't move along a convejor belt and I use the inverse kinematics and I still have the same problem. I set the maximum velocity as 0.05 rad/s for both joints and the graph shows that the joints velocities exceed ...
by Bellinsbauer
10 Aug 2018, 08:56
Forum: General questions
Topic: Doubt about sim.rmlPos
Replies: 11
Views: 547

Re: Doubt about sim.rmlPos

I commented each single line of my code and I deleted what is useless. Now, it should be much clearer. The script is divided in two parts which make the same things but for different purposes. In the first part the Scara goes to pick up the object with the minimum actuation time. In the second part ...
by Bellinsbauer
09 Aug 2018, 12:55
Forum: General questions
Topic: Doubt about sim.rmlPos
Replies: 11
Views: 547

Re: Doubt about sim.rmlPos

Thanks.
And what about the issue before? The one related with the maximum vel, accel and jerk? Any suggestions?
Please, I'm stuck on that.
by Bellinsbauer
09 Aug 2018, 08:41
Forum: General questions
Topic: Doubt about sim.rmlPos
Replies: 11
Views: 547

Re: Doubt about sim.rmlPos

And one more question: in RMLExamples.ttt, joint2 has this script: function sysCall_threadmain() h=sim.getObjectAssociatedWithScript(sim.handle_self) maxVel=0.1 -- rad/s maxAccel=0.01 -- rad/s^2 maxJerk=0.001 -- rad/s^3 rmlObject=sim.rmlPos(1,0.0001,-1,{0,0,0},{maxVel,maxAccel,maxJerk},{1},{180*math...