KUKA OmniRob

[Graham5050]

Hello,

I am currently working on a project where I hope to create a scene which shows the KUKA OmniRob moving around an environment. I have been looking through the YouBot examples and trying to simulate the movement using similar code but it isn’t working correctly.
I came across this forum post (https://forum.coppeliarobotics.com/viewtopic.php?t=615) which explains that the simulation of the wheels on the YouBot is different to that of the OmniRob. I am hoping you would be able to share the scene shown in this video (https://www.youtube.com/watch?v=Br3VJk6_R4w) so that I could have an example to work from.

Thanks

[coppelia]

Hello,

we can't put our hands onto that scene anymore, not sure where we have it.
But: just take the omniRob model from the model browser, and have a look at its attached script: basically the 4 wheels' velocities are set to different values to move the robot around:

Forward movement:

Code: Select all

    sim.setJointTargetVelocity(h[1],v1)
    sim.setJointTargetVelocity(h[2],-v1)
    sim.setJointTargetVelocity(h[3],-v1)
    sim.setJointTargetVelocity(h[4],v1)

Sideways movement:

Code: Select all

    sim.setJointTargetVelocity(h[1],-v1)
    sim.setJointTargetVelocity(h[2],-v1)
    sim.setJointTargetVelocity(h[3],v1)
    sim.setJointTargetVelocity(h[4],v1)

Rotation:

Code: Select all

    sim.setJointTargetVelocity(h[1],v1)
    sim.setJointTargetVelocity(h[2],v1)
    sim.setJointTargetVelocity(h[3],v1)
    sim.setJointTargetVelocity(h[4],v1)

Cheers