Flexible joints

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AhmadGazar
Posts: 8
Joined: 28 Oct 2016, 13:40

Flexible joints

Post by AhmadGazar » 13 Feb 2018, 00:27

Is there a way to model flexible joints in vrep?

coppelia
Site Admin
Posts: 6740
Joined: 14 Dec 2012, 00:25

Re: Flexible joints

Post by coppelia » 13 Feb 2018, 03:26

Hello,

do you mean joints with a certain compliance? Yes, you can use a joint in spring-damper mode, and adjust its target position. Or you can write your own joint controller via a joint control callback function.
Have a look at the demo model: Models/examples/spring-damper.ttm

Cheers

mthor13
Posts: 10
Joined: 03 Jul 2017, 08:32

Re: Flexible joints

Post by mthor13 » 14 Feb 2018, 16:10

I just wanted to add that it is also possible to add "relaxation" to a joint by editing its engine specific properties. I, for instance, added relaxation to a joint using the vortex engine such that it is allowed to move a bit in the z-direction (i.e. some compliance in the z-direction).

Best,
Mathias Thor

AhmadGazar
Posts: 8
Joined: 28 Oct 2016, 13:40

Re: Flexible joints

Post by AhmadGazar » 16 Feb 2018, 13:42

Am I able to do torque control with that?

fferri
Posts: 206
Joined: 09 Sep 2013, 19:28

Re: Flexible joints

Post by fferri » 16 Feb 2018, 16:43

Also, in the ODE manual at section How to use ERP and CFM it is said that there is a direct relationship between CFM and ERP parameters, and the Kp and Kd constants of a spring-damper model.

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