how to show the trajectory of the center of mass of my robot

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Matthew Qi
Posts: 19
Joined: 31 Aug 2017, 02:11

how to show the trajectory of the center of mass of my robot

Post by Matthew Qi »

Hi,

Since my robot could walk and run in V-REP, I want to get the trajectory of the COM(center of mass) of my robot to have a further study of it.
Would you please tell me how to get the trajectory

Thank you in advance.

coppelia
Site Admin
Posts: 7928
Joined: 14 Dec 2012, 00:25

Re: how to show the trajectory of the center of mass of my robot

Post by coppelia »

The center of mass of your whole robot can be computed by doing a weighted addition of all center of masses. Have a look at the following model for inspiration: models/tools/center of mass visualization tool.ttm

Cheers

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