Inverse Kinematics of Parallel cable robot

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vigneshkc
Posts: 8
Joined: 08 Dec 2018, 14:41

Inverse Kinematics of Parallel cable robot

Post by vigneshkc » 09 Jul 2019, 05:48

Hi,

I am working on the IK of a parallel driven cable robot. I was able to do the forward kinematics of the robot. But with the same configuration I am not able do the IK. The joints just breaks and comes apart. I think there is some mistake in the modelling of the joints. Please refer the link below for more clarification.

https://drive.google.com/drive/folders/ ... sp=sharing\

I would be grateful for any help/advice provided
Thanks in advance,
Vignesh K.C.

AHARR64
Posts: 12
Joined: 15 Nov 2018, 21:42

Re: Inverse Kinematics of Parallel cable robot

Post by AHARR64 » 11 Jul 2019, 18:30

The joints/shapes you have in the scene will fall to the ground because they are not attached to the parent object in any way. Even though they are children, this does not attach them. You should try using force sensors on each corner to attach the joints and shapes to the cuboid object. Check out the BubbleRob tutorial to get an idea of how force sensors work.

coppelia
Site Admin
Posts: 7199
Joined: 14 Dec 2012, 00:25

Re: Inverse Kinematics of Parallel cable robot

Post by coppelia » 15 Jul 2019, 06:47

Hello,

not sure what you want to achieve. You have mixed dynamically enabled items, and static items. That can't work. You first need to decide what type of simulation you want. If you want to perform IK, then all shapes need to be non-dynamic (i.e. static). And all joints need to be in IK mode, not in force/torque mode. That's for a start.

Cheers

vigneshkc
Posts: 8
Joined: 08 Dec 2018, 14:41

Re: Inverse Kinematics of Parallel cable robot

Post by vigneshkc » 19 Jul 2019, 09:18

Hi,

Thank you for the response. I made the necessary changes and was able to perform the FK of the model. But for IK I looked at a few examples and completed the model but the tip dummy doesn't follow the target dummy.
https://drive.google.com/drive/folders/ ... sp=sharing

I modeled it looking at a few examples in the following way but the joints just comes apart
https://drive.google.com/drive/folders/ ... sp=sharing

Any suggestion for the above problems in ik mode will be very helpful.

Thanks and Regards,
Vignesh K.C.

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