Facing Problem in Hexapod

Typically: "How do I... ", "How can I... " questions
Post Reply
amitsaini
Posts: 3
Joined: 09 Jun 2019, 08:12

Facing Problem in Hexapod

Post by amitsaini » 19 Jul 2019, 08:05

Hello All, I am new to this forum. I made a simple hexapod in V-Rep. But when simulation is run all motors are behaving unexpectedly. I compared the motor and other setting in my design with Ant Hexapod model supplied with V-Rep . But could not get succeed. I am implementing Inverse Kinematics with Visual CPP Interface. I am attaching the file. Please help.

Image

https://drive.google.com/file/d/1zT5iaw ... sp=sharing

coppelia
Site Admin
Posts: 7267
Joined: 14 Dec 2012, 00:25

Re: Facing Problem in Hexapod

Post by coppelia » 19 Jul 2019, 14:01

Hello,

this is because consecutive links are colliding with each other. Make sure that consecutive links do have a respondable mask that results in 0 when using the boolean AND-operator (i.e. collidableMask1 & collidableMask2 == 0)

Cheers

amitsaini
Posts: 3
Joined: 09 Jun 2019, 08:12

Re: Facing Problem in Hexapod

Post by amitsaini » 20 Jul 2019, 08:38

Thank you very much! Problem is solved. I will post my results.

amitsaini
Posts: 3
Joined: 09 Jun 2019, 08:12

Re: Facing Problem in Hexapod

Post by amitsaini » 26 Jul 2019, 15:59

Till now i am successful in implementing IK, FK and walking gaits with visual cpp. Now it's time to do more complex things.
Check the video.
https://drive.google.com/file/d/1bcf23L ... sp=sharing

Post Reply