Angular Velocity

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zoebhosain
Posts: 4
Joined: 13 Feb 2018, 20:24

Angular Velocity

Post by zoebhosain » 08 Apr 2018, 19:07

Hi,

I am creating simulation to understand robot workspace singularities. to aid my research i have a 2 link robot similar to the SCARA robot minus the prismatic joint for variation in Z direction.

I have been trying to get readings out, and i have been using a graph and exporting the data through a CSV.

I want to know the angular velocities of the links, and am looking for a solution to best help my problem.


thanking you in advance

coppelia
Site Admin
Posts: 6675
Joined: 14 Dec 2012, 00:25

Re: Angular Velocity

Post by coppelia » 12 Apr 2018, 07:01

Hello,

you can have your graph record time derivative values. Or you can directly select the graph data stream Joint: velocity. Or you can track the position of your joints inside of a child script, and do the derivation and export yourself from there.

Cheers

zoebhosain
Posts: 4
Joined: 13 Feb 2018, 20:24

Re: Angular Velocity

Post by zoebhosain » 20 Apr 2018, 06:09

Hi,

How do i track the position of the joints through a child script? I worked out the orientation of the joints(angles) and the values i am getting through the graph seems to be wrong.

thanks

coppelia
Site Admin
Posts: 6675
Joined: 14 Dec 2012, 00:25

Re: Angular Velocity

Post by coppelia » 24 Apr 2018, 06:55

Please give a concret example of what is not working, so that we can reproduce it. Otherwise it is difficult to help.

Cheers

zoebhosain
Posts: 4
Joined: 13 Feb 2018, 20:24

Re: Angular Velocity

Post by zoebhosain » 27 Apr 2018, 01:16

Hi,

I ended up fixing my model. sorry to have bothered you.

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