Mitsubishi RM-501 Movemaster II Model

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koppi

Mitsubishi RM-501 Movemaster II Model

Post by koppi » 26 Aug 2013, 16:31

Hi,

I'm currently building a model of the Mitsubishi RM-501 Movemaster II, an ancient robot built in the 80s.

However, I'm having problems with the dynamic properties of the model. Can anyone look into the robot model?

https://github.com/koppi/bullet-physics ... RM-501.ttm

Kind regards and thanks in advance,
koppi

coppelia
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Joined: 14 Dec 2012, 00:25

Re: Mitsubishi RM-501 Movemaster II Model

Post by coppelia » 26 Aug 2013, 17:48

Hello Koppi,

Your model is huge!! (in dimensions). You probably forgot to specify an appropriate scaling factor during import. In your case, select your model base (rm501_0) and in the object common properties dialog, scale it by a factor 0.1

Next, attach object rm501_axis4 to object Cylinder, otherwise your tip object will fall.

Finally, adjust the masses and inertias of your shapes, as well as the joint torques (when you scaled your model down, all masses, inertias and torques were automatically scaled down too, so you have to correct for that).

Cheers

koppi

Re: Mitsubishi RM-501 Movemaster II Model

Post by koppi » 26 Aug 2013, 20:21

Dear Coppelia,

thank you for all the hints – the RM-501 model now behaves in the simulation lot of more like the real thing.

Also, updated the model file in the download link above.

Next steps are: add a GUI for the bot, play with kinematics and maybe connect V-REP to the real world robot..

Koppi

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