CoppeliaSim forums

Hello,

I am creating a scene with KUKA omnirob. In order to move the robot to several specific positions in turn, i am writing a LUA script to drive the robot. I use "youBotAndHanoiTower" scene as reference, and similar to the control of youBot, I have create omnirob child script with function 'waitToReachVehicleTargetPositionAndOrientation', and in another child script associated with 'Omnirob_body', there is a velocity updating script which I copied from child script associated with vehicleControl in "youBotAndHanoiTower" scene. Of course I have changed the vehicleReference and vehicleTarget to OmniRob. However I noticed that the four mecanum wheels of youBot and Omnirob are simulated differently, therefore I have tried both setup. I also read the explanation of how the omniwheels on the KUKA YouBot are simulated in V-REP (viewtopic.php?f=9&t=390). Could you please explain how the omniwheels on the KUKA Omnirib are simulated? And also how the velocities control of four wheels drive the robot (e.g. left/right turn, move forward/backward etc)?

I suppose the code of youBot control updates four velocities of each wheel irelatively according the distance/angle between robot and target positions. However, reuse of this code for omnirob control is not that easy.

Cheers

Hello,

You are right, the YouBot and the OmniRob can be controlled according to the same method, however there is a slight difference between both, linked to the way wheel joints are defined (for a same joint velocity, some of the OmniRob wheel's will rather move in opposite direction than the YouBot).
If you contact us here we can send you this V-REP scene to get inspiration from.

Cheers