Chai3d Point constraint interacting with haptic object
Posted: 16 May 2023, 07:31
Hi,
When using a point constraint on the Chai3d Vrep module constrained to the End effector of my robot with the haptic tool cursor being fairly large how can i dampen the massive vibrations that there are when my cursor (close to the point contraint) and the mesh are close to each other.
https://imgur.com/u9t4255
I've tried changing the viscosity variable in the point constraint function ptKv thinking it would dampen large vibrations but that makes even more vibrations?
Is my simulation time step too slow or something (dt=0.0500)?
There is also nothing printing to the console window.
Ive tried to make the ptKp and ptKv variables change with the error between the cursor and the pt constraint too.
ptKp=kpgain*error
ptKv=kvgain/error
To make it so that the viscosity is high as the error comes close to zero and vice versa for the stiffness.
I have no other ideas about what to do.
Please help!
Thank you!
When using a point constraint on the Chai3d Vrep module constrained to the End effector of my robot with the haptic tool cursor being fairly large how can i dampen the massive vibrations that there are when my cursor (close to the point contraint) and the mesh are close to each other.
https://imgur.com/u9t4255
I've tried changing the viscosity variable in the point constraint function ptKv thinking it would dampen large vibrations but that makes even more vibrations?
Is my simulation time step too slow or something (dt=0.0500)?
There is also nothing printing to the console window.
Ive tried to make the ptKp and ptKv variables change with the error between the cursor and the pt constraint too.
ptKp=kpgain*error
ptKv=kvgain/error
To make it so that the viscosity is high as the error comes close to zero and vice versa for the stiffness.
I have no other ideas about what to do.
Please help!
Thank you!