Search found 6 matches

by pmietki
10 May 2021, 08:33
Forum: General questions
Topic: Control robot with torque
Replies: 5
Views: 3735

Re: Control robot with torque

Hi, I have tried your suggestions and it was helpful. Im struggling with friction problem right now. I have increased linear/angular damping to max values but it is not enough. how can i increase friction between two links in this simulation : https://drive.google.com/file/d/1zGoRX7Zsqj4jDg4VU154iNu...
by pmietki
29 Apr 2021, 10:23
Forum: General questions
Topic: Control robot with torque
Replies: 5
Views: 3735

Re: Control robot with torque

Thank you for reply. If I use this method joint start oscillating, how to reduce this ?

Cheers
by pmietki
28 Apr 2021, 14:46
Forum: General questions
Topic: Control robot with torque
Replies: 5
Views: 3735

Control robot with torque

Hi, I'm trying to control robot with torque. Using sim.addForceAndTorque method robot is not behave correctly. If I try to assign torque as a vector <0,2,0> why my measured torque values are higher than i set and robot oscillating ? Please check scene (link under to download) i tried to control left...
by pmietki
08 Mar 2021, 09:25
Forum: Bug reports
Topic: Robot break during path execution
Replies: 1
Views: 3889

Robot break during path execution

Hi, I have problem with path execution, on picture we can see 3 robots (left picture is kind of simulation real enviorment, right two robots are responsible for calculation parts). On right side full colour robot should follow shadow but during move, which not happen often, robot broke as we can see...
by pmietki
10 Sep 2020, 09:59
Forum: General questions
Topic: How to get trajectory and torques from simulation to control the real robot?
Replies: 2
Views: 250

How to get trajectory and torques from simulation to control the real robot?

Hi, I am trying to control a real robot with a controller that uses as an input: positions, velocities, accelerations and torques for a given trajectory. I would like to get all of these values from simulation. I can get positions, velocities and accelerations from sim.rmlPos and then during sim.rml...