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.
Motor Joint Model
Re: Motor Joint Model
How are you controlling the joints? Can you show us some code? Why do you say V-REP is not taking into account dynamics?
Re: Motor Joint Model
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.
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.
Re: Motor Joint Model
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?
Are you using the joint's motor? Is the control loop enabled?
Re: Motor Joint Model
All is correctly enabled, but it is not the problem.
Thanks for your time!
Jesús.
Thanks for your time!
Jesús.
Re: Motor Joint Model
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
Cheers