Search found 5 matches

by narutom
13 Nov 2019, 12:19
Forum: General questions
Topic: How to change the joint force during Position control (PID)
Replies: 2
Views: 202

How to change the joint force during Position control (PID)

Hello I build a snake robot model. The joints are running in Torque or force mode. The joint motor is enabled and the control loop is enabled. I use Position control (PID) to control the robot and I want to change the force in the joint during the simulation. I use vrep.simxSetJointForce to change t...
by narutom
13 Nov 2019, 08:17
Forum: General questions
Topic: How to keep joints running in max torque
Replies: 1
Views: 173

How to keep joints running in max torque

hello I am doing the simulation of the snake robot. When gravity is -9.8, the joint can't hold on to the shape of the robot. So, I plan to keep joints running in max torque. The part of my program is as follows. A0=[0 0 -9.8]; [~]=vrep.simxSetArrayParameter(clientID,0,A0,vrep.simx_opmode_oneshot_wai...
by narutom
23 Oct 2019, 10:26
Forum: General questions
Topic: How to change the gravity during the simulation
Replies: 1
Views: 197

How to change the gravity during the simulation

hello, I am using Matlab to control the robot in V-rep. But setting the gravity to -9.8m/s^2 at the initial stage will cause the mechanical structure to collapse. So, I want a gradual change in gravity during the simulation. Is there any API that can read and change the gravity during the simulation...
by narutom
10 Jan 2019, 11:32
Forum: General questions
Topic: How to get the simulation time
Replies: 1
Views: 895

How to get the simulation time

hey,guys. I want to know how to get the time running in V-rep. I use the SetJointTarjectPosition to control the joint, but it was completed in 0.5 seconds. I plan to wait until 1 second,then give the next target joint angle. So, I have to check if the real-time running in V-rep has reached 1 second....