Kinematic and Dynamic parameters

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realjsk
Posts: 13
Joined: 21 Dec 2013, 03:59

Kinematic and Dynamic parameters

Post by realjsk » 30 Apr 2014, 03:08

Where to get the kinematic and dynamic parameters of the robots provided in V-Rep (IRB 140, for instance)?

coppelia
Site Admin
Posts: 7396
Joined: 14 Dec 2012, 00:25

Re: Kinematic and Dynamic parameters

Post by coppelia » 30 Apr 2014, 13:24

Hello,

what parameters are you refering to?
As an example, you can check a shape's dynamic parameters (such as mass, inertia, material, etc.) in the shape dynamic properties. You can also set/get some of those parameters via the API (e.g. simSetShapeMassAndInertia).

Cheers

realjsk
Posts: 13
Joined: 21 Dec 2013, 03:59

Re: Kinematic and Dynamic parameters

Post by realjsk » 30 Apr 2014, 14:02

What about the geometric properties of the links/joints (e.g., length, diameter, etc.)? Thanks.


realjsk
Posts: 13
Joined: 21 Dec 2013, 03:59

Re: Kinematic and Dynamic parameters

Post by realjsk » 30 Apr 2014, 19:08

Do I have to write a code to get them. Can't I get them through the user interface?

coppelia
Site Admin
Posts: 7396
Joined: 14 Dec 2012, 00:25

Re: Kinematic and Dynamic parameters

Post by coppelia » 30 Apr 2014, 19:40

You can also use the user interface for that of course. You can import, export, create objects, change parameters, etc.

Cheers

realjsk
Posts: 13
Joined: 21 Dec 2013, 03:59

Re: Kinematic and Dynamic parameters

Post by realjsk » 01 May 2014, 00:56

You missed my point. What I meant was if I work with any of the manipulators that come with V-REP (say IRB 140, for instance) and I want to know the length of link 1, for example, how can I do that from the user interface? But I finally got it. I just have to see the bounding box under "view/modify geometry". Thanks.

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