Dimensions, Sizes and Inertias of Pioneer3dx robot

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Xnomai
Posts: 4
Joined: 02 Jan 2017, 21:25

Dimensions, Sizes and Inertias of Pioneer3dx robot

Post by Xnomai » 15 Feb 2017, 12:42

Hello

I am a newbie with V-rep, I need to know how to extract sizes (dimensions) and inertia of Pioneer3dx from Vrep in order for me to design a advanced controller based on the robot kinematics parameters. Or if the dimensions are the same as the real Pioneer3dx I need some help referring to witch parameters.

Thank you

coppelia
Site Admin
Posts: 7199
Joined: 14 Dec 2012, 00:25

Re: Dimensions, Sizes and Inertias of Pioneer3dx robot

Post by coppelia » 15 Feb 2017, 20:30

Hello,

to compare dimensions... maybe the best is simply to export the robot shapes to a mesh format, then examine that mesh in an external application. In V-REP you have little ways of measuring a mesh/shape. You can check the dimensions of a shape's bounding box in this dialog.
You can also examine the inertia and mass properties of a shape in this dialog.

Cheers

Eric
Posts: 186
Joined: 11 Feb 2013, 16:39

Re: Dimensions, Sizes and Inertias of Pioneer3dx robot

Post by Eric » 16 Feb 2017, 06:58

Hi

The dimensions are correct, but the inertial matrices were design to leave a stable simulation and have NOT been identified from the real robot.

Cheer
Eric

Xnomai
Posts: 4
Joined: 02 Jan 2017, 21:25

Re: Dimensions, Sizes and Inertias of Pioneer3dx robot

Post by Xnomai » 16 Feb 2017, 12:03

Hello Eric

Thank you for the reply. In this case, where inertias are not the same as the real robot, I think while designing a "dynamic controller" using your model, I must follow your model and its parameters. could you please provide or show me from where I get the dynamic parameters such as robot weigh, moment of inertia, ... used in Vrep.

Cheers

coppelia
Site Admin
Posts: 7199
Joined: 14 Dec 2012, 00:25

Re: Dimensions, Sizes and Inertias of Pioneer3dx robot

Post by coppelia » 17 Feb 2017, 10:22

You can also examine the inertia and mass properties of a shape in this dialog. Make also first sure you understand very well this page before going ahead. Because, as you might notice, not all shapes in that model (or for that, in any model) have a dynamic function (during simulation, have a look at the scene hierarchy and the little icon of a bounding ball next to some of the dynamically enabled objects).

Cheers

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