Real-Time simulation is shaking

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Ringstaartmaki
Posts: 2
Joined: 10 Apr 2018, 15:05

Real-Time simulation is shaking

Post by Ringstaartmaki » 10 May 2018, 13:54

Hello everyone,


I'm working on a robotic arm in V-rep. I'm actuating it through an external C++ program linked through ROS.
When I run the simulation in non real-time mode the time runs faster than real-time, indicating that V-REP is able to calculate faster.

If I toggle to the real-time modus the simulation is shaky.
Link to the video : https://youtu.be/pZCR-X0bsMY
Does anybody know why this is? How could I resolve this kind of behaviour?


Thank you in advance.

coppelia
Site Admin
Posts: 6683
Joined: 14 Dec 2012, 00:25

Re: Real-Time simulation is shaking

Post by coppelia » 11 May 2018, 08:23

Hello,

this is probably linked to the fact that you are trying to move your joints too fast and that the force/torque is not enough and/or the position controller of your joints is not good and/or the mass/inertia of your links are not good.

Adjusting the upper velocity limit for your joints could be a quick fix.

Cheers

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