Parallel Robot Simulation

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juan212
Posts: 2
Joined: 15 May 2017, 13:28

Parallel Robot Simulation

Post by juan212 »

Hello,

I'm trying to set up my robot model, in order to control it with Matlab, but the car1 and car2 seems to be decoupled from the end-effector.

I made a simpler model just with revolution joints and it seemed that activating Hybrid in the passive joints, it solve it.

The problem is that I cannot activate the hybrid function to spherical joints.
here is the code.

https://www.dropbox.com/s/dkisgmfeff0j6 ... 2.ttt?dl=0

Thanks.

coppelia
Site Admin
Posts: 10336
Joined: 14 Dec 2012, 00:25

Re: Parallel Robot Simulation

Post by coppelia »

Hello,

the first problem is that some of your joints are in force/torque mode.

Cheers

juan212
Posts: 2
Joined: 15 May 2017, 13:28

Re: Parallel Robot Simulation

Post by juan212 »

Hello,
They are in force/torque mode because I need to control them using Matlab. The Matlab API specifies to set the control joints in force/torque mode.

They are supposed to be in what mode?

Thanks for your response.

coppelia
Site Admin
Posts: 10336
Joined: 14 Dec 2012, 00:25

Re: Parallel Robot Simulation

Post by coppelia »

If you need to control those joints from Matlab, then they should be in passive mode, or then you need to enable the hybrid mode flag.
But in the end, it seems that there is not enough DoF in your construction to allow for IK. Make sure you check that again.

Cheers

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