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can we apply motion on a link ?

asked 2016-01-15 09:20:18 -0500

soshiant1992 gravatar image

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?

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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?

hsu gravatar imagehsu ( 2016-01-15 13:56:53 -0500 )edit

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answered 2016-01-15 10:28:16 -0500

chapulina gravatar image

updated 2016-01-15 13:04:54 -0500

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.

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

soshiant1992 gravatar imagesoshiant1992 ( 2016-01-15 12:55:42 -0500 )edit

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

chapulina gravatar imagechapulina ( 2016-01-15 13:06:12 -0500 )edit

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).

debz gravatar imagedebz ( 2016-01-15 13:36:12 -0500 )edit
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Asked: 2016-01-15 09:20:18 -0500

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Last updated: Jan 15 '16