Search found 23 matches
- 02 Mar 2021, 16:30
- Forum: General questions
- Topic: sim.rmlMoveToPosition problem
- Replies: 11
- Views: 4219
Re: sim.rmlMoveToPosition problem
Hello I made it work by changing the concept a little bit. I have a question with regard to these functions. I am using them to incrementally move the robot and I have an algorithm for impedance control. I noticed that the success of my algorithm greatly depends on parameters like the desired and ma...
- 02 Mar 2021, 13:17
- Forum: General questions
- Topic: How to impose force on the end-effect (TCP)?
- Replies: 2
- Views: 1082
Re: How to impose force on the end-effect (TCP)?
Hello
I'm working on a similar task, so I thought I'd reply here too. The tutorial you posted is for force-controlled manipulators, but it focuses on joint force control. Is there anywhere we could find something out about end effector (TCP) force control in Coppelia?
Cheers
I'm working on a similar task, so I thought I'd reply here too. The tutorial you posted is for force-controlled manipulators, but it focuses on joint force control. Is there anywhere we could find something out about end effector (TCP) force control in Coppelia?
Cheers
- 19 Feb 2021, 15:37
- Forum: General questions
- Topic: sim.rmlMoveToPosition problem
- Replies: 11
- Views: 4219
Re: sim.rmlMoveToPosition problem
I did that, and it shows just 2 yellow points of contact. They appear for a moment and then disappear. But, they did that when the assemblage was successful too. I'm not sure if that's the reason that the objects get stuck. I also don't understand how the problem could be in the code? The main diffe...
- 19 Feb 2021, 10:59
- Forum: General questions
- Topic: sim.rmlMoveToPosition problem
- Replies: 11
- Views: 4219
Re: sim.rmlMoveToPosition problem
What do you mean by visualizing contact points? I paused the simulation after the top part gets stuck, zoom the objects, and inspect them visually and I cant see a collision anywhere. As I said, the objects aren't even touching. I tried with different physics engines and the same thing happened. I a...
- 17 Feb 2021, 12:30
- Forum: General questions
- Topic: sim.rmlMoveToPosition problem
- Replies: 11
- Views: 4219
Re: sim.rmlMoveToPosition problem
Hi, Yes, that was indeed the problem, and after changing the targetPosVelAccel values, it now works much better. My task is the assemblage of two pieces (each held by a gripper) under a certain force. I place the objects close to each other in a pre-assembly position and then try to assemble them in...
- 09 Feb 2021, 17:00
- Forum: General questions
- Topic: sim.rmlMoveToPosition problem
- Replies: 11
- Views: 4219
Re: sim.rmlMoveToPosition problem
Hi, I tried doing that, and it works fine for the first iteration of the loop. In the second iteration, the sim.rmlStep function returns an error code -100: RML_ERROR_INVALID_INPUT_VALUES. Since the input values are just the object handle and the time step, I assume something is wrong with the time ...
- 05 Feb 2021, 15:52
- Forum: General questions
- Topic: sim.rmlMoveToPosition problem
- Replies: 11
- Views: 4219
Re: sim.rmlMoveToPosition problem
Thanks for the info, I looked at the examples you mentioned. In the examples, you used sim.rmlPos in a threaded script. You first set the object with that function, and then you call the sim.rmlStep function in a while loop. However, this is just for 'stepping'. The original trajectory object remain...
- 01 Feb 2021, 10:35
- Forum: General questions
- Topic: sim.rmlMoveToPosition problem
- Replies: 11
- Views: 4219
sim.rmlMoveToPosition problem
Hello, I have a problem with sim.rmlMoveToPosition function. I planned a trajectory for my robot and I want to use this function in a for loop for each small part of this trajectory. The first time I call the function the robot does move, but when I call the function repeatedly (in the loop), for sm...
- 22 Jan 2021, 13:48
- Forum: General questions
- Topic: Robot IK mode problem
- Replies: 6
- Views: 1925
- 22 Jan 2021, 12:46
- Forum: General questions
- Topic: Robot IK mode problem
- Replies: 6
- Views: 1925
Re: Robot IK mode problem
Hello,
The is the Google drive link to the folder with the scene.
https://drive.google.com/drive/folders/ ... sp=sharing
The robot in question is the 'UR5#1'
Cheers
The is the Google drive link to the folder with the scene.
https://drive.google.com/drive/folders/ ... sp=sharing
The robot in question is the 'UR5#1'
Cheers