Measure Joint Velocity

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dds
Posts: 74
Joined: 20 Mar 2014, 14:35

Measure Joint Velocity

Post by dds » 21 Jul 2014, 23:18

Hi, what is the best way to measure the velocity of a joint?

Snork_svk
Posts: 15
Joined: 21 Feb 2013, 08:29

Re: Measure Joint Velocity

Post by Snork_svk » 22 Jul 2014, 08:54

Hello

If you want just simply display in the window is the best to use Graph
where to set Joint velocity and select the desired joint and then give it into view Floating

If necessary use in an internal script is required to use regularAPI features: sinGetJointPosition obtained from the difference of rotation of the joint and the sampling frequency you know exactly calculate the speed

the same is true when you want to check in your script, you just have to use remoteAPI function simxGetJointPosition

dds
Posts: 74
Joined: 20 Mar 2014, 14:35

Re: Measure Joint Velocity

Post by dds » 22 Jul 2014, 13:41

Hi. What would be the difference with

Code: Select all

jointVelocity=simGetObjectFloatParameter(jointHandle,2012)
?? which option is more accurate?

coppelia
Site Admin
Posts: 7272
Joined: 14 Dec 2012, 00:25

Re: Measure Joint Velocity

Post by coppelia » 22 Jul 2014, 15:58

Hello,

both options will result in the same value. Option 2 will do the calculation for you (comparing positions between two successive simulation steps).

Cheers

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