Hi again,
Thanks Coppelia for your response, and also thank you Hrithik Verma for your help.
I'm trying to paint a wall with Paint Nozzle attached to a LBR4p.
The objective is to move a dummy around the wall and the dummy target of the robot must follow that dummy and paint the wall.
For achieve that, I use IK in Coppelia V4.2, with sim.moveToPose.
The dummy only
But sometimes, when robot follows the dummy, (he must do linear movements) It seems like the robot can't resolve the IK and starts to do aleatory movements and it goes crazy and do random movements in the Joints.
Here a little fragment of my Coppelia's code:
Code: Select all
if dataFromExternalApp then
longitud=dataFromExternalApp[1]
d_pasadas=dataFromExternalApp[2]
posdummy=sim.getObjectPosition(goaldummy,-1)
cambiarPos=sim.setObjectPosition(goaldummy,-1,{longitud,posdummy[2],posdummy[3]})
targetPose=sim.getObjectPose(goaldummy,-1)
endPose,timeLeft=sim.moveToPose(flags,currentPose,maxVel,maxAccel,maxJerk,targetPose,callback)
tiempo=sim.getSimulationTime()
while posdummy[2]>0 do
posdummy=sim.getObjectPosition(goaldummy,-1)
if (suma_y==true) then
cambiarPos=sim.setObjectPosition(goaldummy,-1,{longitud,posdummy[2]-d_pasadas,posdummy[3]})
targetPose=sim.getObjectPose(goaldummy,-1)
currentPose=sim.getObjectPose(simTarget,-1)
endPose,timeLeft=sim.moveToPose(flags,currentPose,maxVel,maxAccel,maxJerk,targetPose,callback)
suma_y=false
else
if (resta_z==true) then
cambiarPos=sim.setObjectPosition(goaldummy,-1,{longitud,posdummy[2],z_1})
targetPose=sim.getObjectPose(goaldummy,-1)
currentPose=sim.getObjectPose(simTarget,-1)
endPose,timeLeft=sim.moveToPose(flags,currentPose,maxVel,maxAccel,maxJerk,targetPose,callback)
resta_z=false
else
cambiarPos=sim.setObjectPosition(goaldummy,-1,{longitud,posdummy[2],z_2})
targetPose=sim.getObjectPose(goaldummy,-1)
currentPose=sim.getObjectPose(simTarget,-1)
endPose,timeLeft=sim.moveToPose(flags,currentPose,maxVel,maxAccel,maxJerk,targetPose,callback)
resta_z=true
end
suma_y=true
end
I've tried to change the simIK.method , the damping value and the number of iterations, but It stills the same. Also, I've changed the velocity, acceleration and jerk to a little values, but anyway, without any result.
So, I want to know if there's another configuration values that I can change to optimize the movements.
Thanks in advance