Torque control and replication
Posted: 23 Jun 2021, 10:36
Hello,
I am currently trying to design a simple model to learn robot dynamics from
data. For this, I am sending specific joint poses and trying to query for
the torque which VREP applied so I can use this data later for my model.
However, I have the following issues:
1. When sending multiple poses (even with triggering), only the last pose
sent gets executed.
2. When trying to apply the torques observed again to the model (with very
high velocity and setting my desired torques as max torques), nothing
happens and the robot doesn't move.
I am currently using MATLAB for API communication. Any help would be
appreciated.
I am currently trying to design a simple model to learn robot dynamics from
data. For this, I am sending specific joint poses and trying to query for
the torque which VREP applied so I can use this data later for my model.
However, I have the following issues:
1. When sending multiple poses (even with triggering), only the last pose
sent gets executed.
2. When trying to apply the torques observed again to the model (with very
high velocity and setting my desired torques as max torques), nothing
happens and the robot doesn't move.
I am currently using MATLAB for API communication. Any help would be
appreciated.