Hello,
I am currently working on a simulation which will control a 4 DOF Robotic ARM IRL. I've build the model with IK and PID which works very well.
For various reasons i need a smooth Motion when the motors start and stop moving. Something like a Jerk-Free ramp type.
I've played around with a couple of things to get that kind of working - currently I'm using a small proportional parameter which slowly decreases the speed when the joints reach their target position and wrote a script which gradually increases the Upper velocity limit when the robot starts a new path.
This however brings some disadvantages and feels like a bad solution for this problem.
Might there be something I'm missing?
And if it isn't implemented in some way, what would be the best way to control the joint speed in a IK robot model?
Joint/Motor Ramp Types - Jerk Free Motion
Re: Joint/Motor Ramp Types - Jerk Free Motion
Hello,
have a look at following API functions:
Cheers
have a look at following API functions:
-
sim.rmlMoveToJointPositions
(to be deprecated, and replaced bysim.moveToConfig
starting with CoppeliaSim V4.2.0) -
sim.rmlMoveToPosition
(to be deprecated, and replaced bysim.moveToPose
starting with CoppeliaSim V4.2.0) -
sim.rmlPos
-
sim.rmlVel
-
sim.rmlStep
-
sim.rmlRemove
Cheers
Re: Joint/Motor Ramp Types - Jerk Free Motion
Okay, I've rewritten a lot of my Code to be compatible with the reflexxesMotionLibrary and it works better than ever before! Thanks a lot!