Search found 85 matches

by ravi
28 Oct 2016, 15:55
Forum: General questions
Topic: Torque based control of Baxter Arm
Replies: 17
Views: 6753

Re: Torque based control of Baxter Arm

Thanks Admin. Your response always helps me. I tried to use "Joint Callback Script" but it isn't working properly. I am attaching the scene file below. Can you please have a look? This is a sample file, in which torque has been provided to only left joint 1. https://www.dropbox.com/s/ij7kp4c48xuh4jc...
by ravi
27 Oct 2016, 14:38
Forum: General questions
Topic: matrix inversion and multiplication
Replies: 7
Views: 4164

matrix inversion and multiplication

Hi, I want to calculate the inverse of matrix. I found simGetInvertedMatrix function but it is DEPRECATED http://www.coppeliarobotics.com/helpFiles/en/regularApi/simGetInvertedMatrix.htm The other available function is simInvertMatrix but it works for transformation matrix only. http://www.coppeliar...
by ravi
26 Oct 2016, 09:34
Forum: General questions
Topic: Torque based control of Baxter Arm
Replies: 17
Views: 6753

Re: Torque based control of Baxter Arm

Thanks again coppelia. If I understood you properly, that means to control Baxter Arm (7 DOF), I need to create 7 callback scripts by selecting "Custom control" inside "Joint Dynamic Properties" with "Torque/Force Mode" . There are two "Joint Control Callback Scripts" already present in Baxter Model...
by ravi
25 Oct 2016, 08:38
Forum: General questions
Topic: Torque based control of Baxter Arm
Replies: 17
Views: 6753

Re: Torque based control of Baxter Arm

Hi coppelia, I really appreciate your quick response. I have few more questions at this point of time. 1) As you recommended, I am going to use the best, which is using joint control callback scripts. I am using Baxter gripper in both the arms. I noticed that in the existing Baxter model, there are ...
by ravi
24 Oct 2016, 08:51
Forum: General questions
Topic: Torque based control of Baxter Arm
Replies: 17
Views: 6753

Torque based control of Baxter Arm

Hi all, I am new to V-REP. I want to perform torque based control of Baxter Arm. Let me tell you my requirements in more details. I am computing joint torques, which I want to apply to Baxter Arm. I need following variables for joint torque calculation- 1) Jacobian (d_theta to d_x relation) 2) Actua...