Search found 6 matches

by sade
28 Sep 2016, 15:26
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26071

Re: Torque control

Thanks for reply. I read the joint forces with simGetJointForce in both vrep and matlab and they are same. Matlab runs in synchronous mode. I got the joint input and position plots, as I can see the link can not move in reverse direction as long as the total torques(kgm^2/s) are equal in negative an...
by sade
20 Sep 2016, 00:03
Forum: General questions
Topic: Torque control
Replies: 43
Views: 26071

Re: Torque control

Hello, I am using matlab/vrep to develop a position control loop of the end effector of a serial link robot. The control algorithm directly uses the difference between the desired and actual positions and velocities so as to create the required joint torques to drive joint motors. To apply the torqu...
by sade
11 Nov 2015, 19:40
Forum: General questions
Topic: Stabilization problem of URDF Model
Replies: 7
Views: 2300

Re: Stabilization problem of URDF Model

I am using Matlab and remoteApi function. In order to apply torques I change the target velocities very large and using the "simxSetJointForce" function I can send constant torques and read the same value in the V-rep side using the joint sensor. Problem is torque will change according to datas comi...
by sade
10 Nov 2015, 22:49
Forum: General questions
Topic: Stabilization problem of URDF Model
Replies: 7
Views: 2300

Re: Stabilization problem of URDF Model

Grateful for the help. I fixed the problem using convex decomposition of the body. Now, I need to send time varying torque datas changing according to sensor readings. Is there any tutorial or example about it?
by sade
08 Nov 2015, 14:55
Forum: General questions
Topic: Stabilization problem of URDF Model
Replies: 7
Views: 2300

Re: Stabilization problem of URDF Model

I change the solver but it does not help. The model can be downloaded from the following link

http://www.filedropper.com/omniscene

It is possible that I may miss something about the designing dynamic simulations issue. Thanks for fast response
by sade
08 Nov 2015, 13:54
Forum: General questions
Topic: Stabilization problem of URDF Model
Replies: 7
Views: 2300

Stabilization problem of URDF Model

Hello, After I import the URDF Model of my robot, it moves randomly when simulation is started. In order to make it stabilize, I change some properties as following: - I put all the links and joints inside in a model based shape and made it respondable - I made the links are respondable and dynamic ...