Search found 5 matches

by erik
12 May 2020, 12:20
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26039

Re: Torque control

Sorry for bumping this topic but... Sometimes I get private messages based on my answers in this topic. Since I have a hard time finding my login credentials every time I thought I'd post this here :). To get torque control working (from Matlab in my case), I sent torques via the API and unpacked th...
by erik
30 Oct 2015, 19:08
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26039

Re: Torque control

Hi Sam, if you send me an e-mail I can reply with a sample file where I tried different methods to apply joint torques, including a Matlab file that sends the desired torques. The case study I did: simple 3dof arm where I wanted to compute and apply the torques to compensate for gravity (i.e. the ar...
by erik
12 Dec 2014, 16:11
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26039

Re: Torque control

That is just what I needed, it works perfectly!

I've put it in a threaded script and together with some synchronization triggers, the control from Matlab does exactly what I expect it to do.

Thank you for quick replies!
by erik
04 Dec 2014, 11:26
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26039

Re: Torque control

It seems I forgot to switch the velocity sign, your previous explanation really helped, thanks! However, this way of doing joint torque control is not accurate enough for me: the gravity compensation is a bit unstable. So I'd prefer using simAddForceAndTorque where I can do the 0 reference velocity ...
by erik
03 Dec 2014, 17:06
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26039

Re: Torque control

Hi all, Currently, I'm making a simulation of a torque controlled humanoid. I tried the method explained above (i.e.: set the target velocity to a large number and in each loop, adjust the maximum torque), but it did not work. I did find another way that seems to work. My test case is as follows: fo...