can we apply motion on a link ?

i know we can apply force on a link. but i need precision and calculating exact force for a desired motion is not possible for my problem.

so can we add motion to a link ? and if we can how?

Asked by soshiant1992 on 2016-01-15 10:20:18 UTC

Comments

Are you looking for inverse dynamics? e.g. by "motion" refers to kinematic states such as position, velocity and accelerations, and is the objective to obtain forces/torques necessary to achieve specified kinematic trajectory?

Asked by hsu on 2016-01-15 14:56:53 UTC

Answers

Ignore dynamics

If dynamics is not important to your application, you could try creating an animation. Check out this tutorial.

Another option which disregards dynamics is Joint::SetPosition.

With dynamics

If dynamics are important and you don't want to do the force computation, your best bet is probably to do PID using the JointController, but that requires tuning.

Asked by chapulina on 2016-01-15 11:28:16 UTC

Comments

dynamic is important. actually i need to give joints specific angles and a PID follower wont do

Asked by soshiant1992 on 2016-01-15 13:55:42 UTC

I've updated the answer with an option with dynamics.

Asked by chapulina on 2016-01-15 14:06:12 UTC

The PID seems to be the best option for you. With them, you can directly set angles to your joints (position PID vs velocity PID).

Asked by debz on 2016-01-15 14:36:12 UTC