Real time position control to induce artificial braking
Posted: 11 Sep 2015, 12:08
Hello All
When we look into V-Rep while simulating a joint in torque mode, the max torque is applied and the body id moved. mean time, we see a negative torque applied to adjust the position with max velocity. When the body is nearing the target position, a max negative torque is applied and the body is brought to rest. I felt, if I can trap this torque, I can induce artificial braking, with the brake power required would be slightly more than this torque. I am not sure how to bring it into my model for example, where the target position is changed, then my model fails as the brake needs to be applied when the body arrives at the new position. Could anyone suggest me a suitable procedure with example.
When we look into V-Rep while simulating a joint in torque mode, the max torque is applied and the body id moved. mean time, we see a negative torque applied to adjust the position with max velocity. When the body is nearing the target position, a max negative torque is applied and the body is brought to rest. I felt, if I can trap this torque, I can induce artificial braking, with the brake power required would be slightly more than this torque. I am not sure how to bring it into my model for example, where the target position is changed, then my model fails as the brake needs to be applied when the body arrives at the new position. Could anyone suggest me a suitable procedure with example.