Hi i'm new with simulator, I'm trying to control a V-rep model via matlab and i want to send torque/ force reference in orden to implement more complex control algotim, but i only find the option to send a velocity reference to the model .
is there any way to control joint force /Torqe , or joint motor voltage? ¿is the velociti/position target the only awy to control a joint?
Foce control
Re: Foce control
Hello! thanks for the fast reply. the simxJointGetForce function is useful for what I do, however simxSetJointForce function seems to only set the maximum force that can be applied . My question is if I can send force references to joint in place of velocity references.
Re: Foce control
that's the function you want to use!
simxSetJointForce will set the force that will be applied, as long as the maximum velocity is not reached. So if you want to do force/torque control, just set a high Target velocity and then regulate the force/torque as needed.
Cheers
simxSetJointForce will set the force that will be applied, as long as the maximum velocity is not reached. So if you want to do force/torque control, just set a high Target velocity and then regulate the force/torque as needed.
Cheers