Oscillation of robot with masses
Posted: 21 Aug 2013, 20:35
I have build a robot with inverse kinematics. As long as I do not put any weight on it, the movement is rather straight and I might see only a few vibrations of the robot's head.
If I grip or assemble a little weight, the robot starts oscillating heavily.
I am not able to solve the problem by changing the simulation mode or the "dt".
In the examples and in the robots which are delivered with the software I saw that these robots are not build of grouped pure shapes but they are made of merged non-pure shapes which are static. Furthermore the hybrid mode of the inverse kinematics is switched off.
For my robot I used only grouped pure shapes, I selected the hybrid mode for inverse kinematics, the motors are enabled. These shapes weigh from about 3 to 7. The motor's forces are set from 400 to 1500.
Is there any way to find the optimal constellation of moment/force per each motor joint to the shapes that connect joints so that the robot does not oscillate?
Thanks for your support
If I grip or assemble a little weight, the robot starts oscillating heavily.
I am not able to solve the problem by changing the simulation mode or the "dt".
In the examples and in the robots which are delivered with the software I saw that these robots are not build of grouped pure shapes but they are made of merged non-pure shapes which are static. Furthermore the hybrid mode of the inverse kinematics is switched off.
For my robot I used only grouped pure shapes, I selected the hybrid mode for inverse kinematics, the motors are enabled. These shapes weigh from about 3 to 7. The motor's forces are set from 400 to 1500.
Is there any way to find the optimal constellation of moment/force per each motor joint to the shapes that connect joints so that the robot does not oscillate?
Thanks for your support