Search found 85 matches

by ravi
11 Oct 2017, 10:52
Forum: General questions
Topic: Designing Robot Model containing Parallel Bar Mechanism
Replies: 15
Views: 5011

Re: Designing Robot Model containing Parallel Bar Mechanism

Thanks as always. It worked. Now I just extended the design and added another motor into it. I mean to say that an extra active joint has been added to it. Please see the screenshot of the scene below: https://www.dropbox.com/s/vgsdoarxceszua4/convex-decomposition-v4.PNG?dl=0 The newly added joint i...
by ravi
07 Oct 2017, 15:08
Forum: General questions
Topic: Designing Robot Model containing Parallel Bar Mechanism
Replies: 15
Views: 5011

Re: Designing Robot Model containing Parallel Bar Mechanism

Thank you very much. It is getting better. I increased Moment of Inertia. However, it is still not perfect. The links are not behaving properly. Please see below the Mass Inertia properties: https://www.dropbox.com/s/7nzcbdc9cqkujhm/MoI.png?dl=0 How to turn on "contact point visualization"? By the w...
by ravi
27 Sep 2017, 10:54
Forum: General questions
Topic: Designing Robot Model containing Parallel Bar Mechanism
Replies: 15
Views: 5011

Re: Designing Robot Model containing Parallel Bar Mechanism

Thank you very much. I am following your suggestions. I am able to convert shapes nicely compared to previous. However, the simulation is still not great. Please watch the simulation video below: https://www.dropbox.com/s/fsmuqm7p9mk9zrt/simulation_convex-decomposition.avi?dl=0 The scene file can be...
by ravi
20 Sep 2017, 11:53
Forum: General questions
Topic: Designing Robot Model containing Parallel Bar Mechanism
Replies: 15
Views: 5011

Re: Designing Robot Model containing Parallel Bar Mechanism

Hi, Thanks a lot for the explanation. Now I am able to simulate the skeleton model. However, I still have issues such as non-convex shape in CAD model. Below is the screenshot of the warning, shown during simulation, while using pure CAD model: https://www.dropbox.com/s/uih3hgw3movwp6u/non-convex-sh...
by ravi
07 Sep 2017, 10:29
Forum: General questions
Topic: Designing Robot Model containing Parallel Bar Mechanism
Replies: 15
Views: 5011

Re: Designing Robot Model containing Parallel Bar Mechanism

It works. Thank you so much. I have a fundamental doubt here.

If I am not mistaken, in the earlier versions (may be 1 year before), V-Rep had position control separately. Why do we need to select force/torque mode, when we want to do position control?
by ravi
02 Sep 2017, 05:27
Forum: General questions
Topic: Designing Robot Model containing Parallel Bar Mechanism
Replies: 15
Views: 5011

Re: Designing Robot Model containing Parallel Bar Mechanism

Thank you very much. I really liked your idea to avoid loop closure in a very clever way. I changed the scene hierarchy as per your suggestion. Please see below the screenshot of V-Rep: https://www.dropbox.com/s/b0s1axn5isrhzhv/skeleton_model_v1_vrep.png?dl=0 Just to keep the naming convention easy,...
by ravi
31 Aug 2017, 15:19
Forum: General questions
Topic: Designing Robot Model containing Parallel Bar Mechanism
Replies: 15
Views: 5011

Re: Designing Robot Model containing Parallel Bar Mechanism

Thanks admin for the suggestion. To simplify the problem, I made the skeleton model of it. Please see the scene file here: https://www.dropbox.com/s/xs5xwgzka6ozv9g/skeleton_model.ttt?dl=0 For a quick view, please see the screenshot of VRep window below: https://www.dropbox.com/s/8d1a5sgagynhtxc/ske...
by ravi
30 Aug 2017, 11:13
Forum: General questions
Topic: Designing Robot Model containing Parallel Bar Mechanism
Replies: 15
Views: 5011

Designing Robot Model containing Parallel Bar Mechanism

Hi, I am designing a robot model containing parallel bar mechanism. The mechanism is shown in the picture below: https://www.dropbox.com/s/p53gxz4qmxsua2v/leg_real.png?dl=0 The robot model consists of several parts and motor as the actuator. It has few passive joints as well. Below is the screenshot...
by ravi
03 Mar 2017, 03:13
Forum: General questions
Topic: matrix inversion and multiplication
Replies: 7
Views: 4164

Re: matrix inversion and multiplication

Hi David, You don't need to do much stuff here. You haven't installed matrix.lua module and that is why you are getting the error. By the way, LUA scripts are inbuilt supported by VREP. You only need to copy and paste matrix.lua file in your main lua script directory, so that lua can find it out. Ch...
by ravi
02 Mar 2017, 02:22
Forum: General questions
Topic: matrix inversion and multiplication
Replies: 7
Views: 4164

Re: matrix inversion and multiplication

Hi David, Ideally if matrix.lua module is installed properly, you shouldn't get any error. What kind of error are you getting? can you please post the error to make the debugging easier? Have a look at the sample code below local matrix = require 'matrix' V = matrix{{1,2}} a = matrix{{3,4},{5,6}} V ...