## Search found 18 matches

12 Apr 2017, 13:17
Forum: General questions
Topic: Can V-REP simulate a robot dynamics equation?
Replies: 3
Views: 1952

### Re: Can V-REP simulate a robot dynamics equation?

Thanks~
What about the torque?How can I set it by MATLAB?

Code: Select all

vrep.simxSetJointForce(clientID,joint1,force,vrep.simx_opmode_oneshot);

The above code seems to have only set the maximum joint torque.
11 Apr 2017, 08:34
Forum: General questions
Topic: Can V-REP simulate a robot dynamics equation?
Replies: 3
Views: 1952

### Can V-REP simulate a robot dynamics equation?

Hi~ The differential equations that describe the movement of a robotic arm can be written in the following form: M(q) * q_ddot + C(q,q_dot) * q_dot + G(q) = τ Can the inertia matric M , coriolis and centripedal forces matrix C and the gravity vector G be set in V-REP? And then I use MATLAB to input ...
28 Dec 2016, 17:43
Forum: General questions
Topic: About using MATLAB to get joint angle and set joint angle
Replies: 5
Views: 3636

### Re: About using MATLAB to get joint angle and set joint angle

Using the Matlab function pause(),the results have been improved.And I will I will follow your advice to test it. I have a questions about using two remote API in one child script. simExtRemoteApiStart(19999) is used to connect a C++ application,while simExtRemoteApiStart(19998) is used to connect M...
28 Dec 2016, 02:22
Forum: General questions
Topic: About using MATLAB to get joint angle and set joint angle
Replies: 5
Views: 3636

### Re: About using MATLAB to get joint angle and set joint angle

The question about using MATLAB to get joint angle has been solved.The main code of Matlab is shown below if (clientID>-1) disp('Connected to remote API server'); % get handle for Baxter_rightArm_joint1 [res,handle_rigArmjoint1] = vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint1',vrep.simx_...
25 Dec 2016, 11:58
Forum: General questions
Topic: About using MATLAB to get joint angle and set joint angle
Replies: 5
Views: 3636

### Re: About using MATLAB to get joint angle and set joint angle

I write a matlab function as follows, function baxter() disp('Program started'); % vrep=remApi('remoteApi','extApi.h'); % using the header (requires a compiler) vrep=remApi('remoteApi'); % using the prototype file (remoteApiProto.m) vrep.simxFinish(-1); % just in case, close all opened connections c...
25 Dec 2016, 09:21
Forum: General questions
Topic: About using MATLAB to get joint angle and set joint angle
Replies: 5
Views: 3636

### About using MATLAB to get joint angle and set joint angle

Hi~ I use other devices to control the robot in V-rep.Now I want to get the data of the joint angle changing with time during the simulation. And then I want to control the robot using the joint angle obtained by the above method. Which remote API functions (Matlab) can do that?simxGetJointPosition ...
05 Aug 2016, 11:48
Forum: General questions
Topic: About controlling the robot in V-REP and in reality
Replies: 5
Views: 4349

### Re: About controlling the robot in V-REP and in reality

Thanks~fferri.You use the RosInterface to control the KUKA Robot(the first method above).About the KRL in KUKA Robot,do you think the forth method above can do that?
04 Aug 2016, 16:33
Forum: General questions
Topic: About controlling the robot in V-REP and in reality
Replies: 5
Views: 4349

### Re: About controlling the robot in V-REP and in reality

Thanks~coppelia! Now I want to write some code to control KUKA Robot in V-REP.If I want to use these code to control the real KUKA Robot by writting a plugin.And the KUKA Robot system use the KRL,a computer lanuage like C.Do you think a plugin can translate the V-REP commands to KRL?And what should ...
02 Aug 2016, 16:20
Forum: General questions
Topic: About controlling the robot in V-REP and in reality
Replies: 5
Views: 4349

### About controlling the robot in V-REP and in reality

Hi~I have a qusetion about controlling the robot in V-REP and the robot in reality.The computer programs compiled by V-REP can control the KUKA Robot in V-REP，however，can it control the KUKA Robot in reality?In other words,can the code which can run in V-REP run in the robot system in real robot?and...
27 May 2016, 03:22
Forum: General questions
Topic: The question about Kinect-V REP connection
Replies: 9
Views: 3032

### Re: The question about Kinect-V REP connection

I have recompiled a new KinectServer.exe and it work well.I can get skeleton in V-REP through 'Interface to haptic device.ttm'. http://pan.baidu.com/s/1qYN6CXY But when I run 'astiKinectControl.ttt',it can't work and the message is shown as follow. Lua runtime error: [string "SCRIPT Asti"]:26: attem...