Search found 61 matches

by Leizah
15 Oct 2021, 10:14
Forum: General questions
Topic: How to stop robot motion
Replies: 16
Views: 22552

Re: How to stop robot motion

Hi, thank you for your answer, it actually solved the error in Coppelia. Unfortunately the code stil doesn't work, but I don't understand why. This is the code I modified according to your last advices: -- Robot start condition if Robot_Start then -- First part of the movement performed with IK sim....
by Leizah
13 Oct 2021, 12:08
Forum: General questions
Topic: How to stop robot motion
Replies: 16
Views: 22552

Re: How to stop robot motion

Thank you for your answer, I'll try using RmlPos. However, using the same code it returns me an error "Incorrect table size" for the first rmlPos function. The tip is a dummy, so I set the value of 3 DoF (As into the example) and then I considered the following vectors: CurrentPosVelAccel = {TipPosi...
by Leizah
11 Oct 2021, 12:00
Forum: General questions
Topic: How to stop robot motion
Replies: 16
Views: 22552

Re: How to stop robot motion

Thank you for your reply. The movetoPose command is already present into the movetoPose_viaIK function that I used to generate the IK path, but I was not able to make it work for my case. However, I changed my code according to the demo, since the tip is a dummy point, I made the following code: -- ...
by Leizah
10 Oct 2021, 10:15
Forum: General questions
Topic: Bill collision avoidance
Replies: 1
Views: 5533

Bill collision avoidance

Hi I'm using a Bill on Path model provided with a threated script. Unfortunately, it does not evaluates the presence of other models (which are all detectable) and then Bill just "walks through" the objects. I would like to make the model to detect when he's about to colliding with specific objects ...
by Leizah
10 Oct 2021, 09:51
Forum: General questions
Topic: Proximity sensor with MATLAB
Replies: 1
Views: 5409

Proximity sensor with MATLAB

Hi I've saved a model provided with a proximity sensor which should detect just a specific element in the scene. Now I've tried to insert the same model into another scene (where the element that it has to detect is already exists) using the MATLAB remote API. Unfortunately, the info about what to d...
by Leizah
08 Oct 2021, 10:38
Forum: General questions
Topic: How to stop robot motion
Replies: 16
Views: 22552

Re: How to stop robot motion

Hello again, thank you for your answer. I've looked at the demo you suggested and I think I got how rml works for a simple environment. Unfortunately, I'm still not able to merge rml with the IK that I'm actually using. Which part of the robot I've to set as rml object? The tip or all the joints? In...
by Leizah
07 Oct 2021, 08:09
Forum: General questions
Topic: How to stop robot motion
Replies: 16
Views: 22552

Re: How to stop robot motion

You are not using the RML functions correctly. You should initialize a RML object with sim.rmlPos or sim.rmlVel, then call sim.rmlStep in a loop until you get a certain return value indicating that the movement has finished, or until a certain external event has happened. In that loop, you should a...
by Leizah
05 Oct 2021, 15:50
Forum: General questions
Topic: How to stop robot motion
Replies: 16
Views: 22552

Re: How to stop robot motion

Hi, thank you for your reply. According to the demo, I've modified the functions as follows: function moveToPose_viaIK_min(minVelocity,minAcceleration,minJerk,targetPose,auxData) local currentPose=sim.getObjectPose(auxData.tip,-1) local currentPosVelAccel={currentPose,maxIkVel,maxIkAccel} local maxA...
by Leizah
04 Oct 2021, 18:01
Forum: General questions
Topic: How to stop robot motion
Replies: 16
Views: 22552

Re: How to stop robot motion

Hi, I've changed my scene and I've now the following situation: The robot begins its movement (5 control points are used to create the path via IK) when the human operator sends a signal "Robot_Start" (The human stops) if Robot_Start then sim.setJointTargetVelocity(simJoints[1],maxIkVel[1]) sim.setJ...
by Leizah
04 Oct 2021, 12:54
Forum: General questions
Topic: Bill on path model interaction with objects
Replies: 8
Views: 8807

Re: Bill on path model interaction with objects

Hello again, you will likely get more replies if you post a simple, short question. Expecting people to read through your algorithm, understand it, reproduce and test it, does usually lead to very few replies, because people willing to spend more than 5 minutes on a reply are rare. cheers Hello, th...