CoppeliaSim forums

Hi!

I am working from Matlab in order to understand in a better way dinamic control V-REP uses.

I have simulated one scene which contains one joint to study its behavior and obtain a model. I have built a simple planar 2DOF robot and a dinamic model of it in Matlab. (I have asume motor inertia=0, reduction factor=1 and viscosity=0). I have made a simulation comparing my results in V-REP and Matlab. It is like V-REP is not taking in account robot dynamic and only simulates joint model. In simulation only appears joint model response.

I have thought that could be that joint inertia is higher than links inertia, but I have tried for differents inertias and I always only have joint model response.

Thanks!

Jesús.

How are you controlling the joints? Can you show us some code? Why do you say V-REP is not taking into account dynamics?

I am implementing the next control diagram:

https://mega.nz/#!phVihZYB!Re6ZJWowoEtU ... vBU54gH2Dk

I am only using remote API commands in Matlab to send reference in velocity and recieve joint position from VREP.
I have said V-REP is not taking into account dynamics, because the response doesn't change between implementing only a joint and a joint with a dynamic body on it. It moves in the same way.

Jesús.

Ensure that the joint is in torque/force mode and everything is dynamically enabled.

Are you using the joint's motor? Is the control loop enabled?

All is correctly enabled, but it is not the problem.

Thanks for your time!

Jesús.

You provided only a picture of your scene. Maybe your arm is colliding with the floor? Or link elements are colliding with each other?

Cheers