Search found 7266 matches

by coppelia
19 Sep 2019, 08:53
Forum: General questions
Topic: Inverse Kinematics Question
Replies: 6
Views: 216

Re: Inverse Kinematics Question

So that means, you use the same Jacobian but your calculation of sqrt(det(J*JT)) is different? Then one other part of the calculation above must be wrong. You can have a look how V-REP computes this in file v_rep/sourceCode/inverseKinematics/ik/ikGroup.cpp , function CikGroup::getLastManipulabilityV...
by coppelia
19 Sep 2019, 08:44
Forum: General questions
Topic: UR5 with RG2 gripper grasping status check
Replies: 1
Views: 26

Re: UR5 with RG2 gripper grasping status check

Hello, you can check various things that allow you to detect whether the object was grasped or not. For instance: you can check the gripper angle you can use a proximity sensor to check whether a part is in the gripper you could use an appropriately placed force/torque sensor . This is a bit more co...
by coppelia
19 Sep 2019, 08:40
Forum: General questions
Topic: Parallel robot - IK mode
Replies: 3
Views: 77

Re: Parallel robot - IK mode

this collision happens because the red joint's range is not large enough. You can detect this if one of the joints is very close to its limit. Or when IK doesn't fulfill precision requirements. If your IK group doesn't fulfill precision requirements, you can configure your IK group to revert to the ...
by coppelia
19 Sep 2019, 08:29
Forum: General questions
Topic: kinematics model of hybrid robot
Replies: 9
Views: 468

Re: kinematics model of hybrid robot

It is very difficult to guess what you are doing or what you are doing wrong. If you need your end-effector to maintain a specific orientation, then exclude the joints that are responsible for that orientation from the IK calculation. You can also introduce auxiliary joints to help IK resolution to ...
by coppelia
19 Sep 2019, 08:25
Forum: Bug reports
Topic: Vortex not working
Replies: 1
Views: 24

Re: Vortex not working

Hello,

I suspect this is directly linked with the Vortex library. Can you check with CM Labs?

Cheers
by coppelia
18 Sep 2019, 13:26
Forum: General questions
Topic: Information Text not showing
Replies: 2
Views: 53

Re: Information Text not showing

Hello, do you have a kind of blue button in the upper left corner of the rendering window? If not, then V-REP probably could not load the text box, which is located in system/sysnfo.ttb . Do you have that file? Also, what V-REP version are you running? And could it be possible that you are using an ...
by coppelia
18 Sep 2019, 06:25
Forum: General questions
Topic: Inverse Kinematics Question
Replies: 6
Views: 216

Re: Inverse Kinematics Question

Did you check that your Jacobian is the same as the one returned by the API? Also, there is never a guarantee that IK can be solved. As you know, the Jacobian is the linearization around the current robot configuration. If the target dummy is too far away (or generates too large joint velocities), t...
by coppelia
18 Sep 2019, 06:17
Forum: General questions
Topic: How to reset v-rep properly
Replies: 3
Views: 143

Re: How to reset v-rep properly

Yes, you can use sim.resetDynamicObject : the effect is as if you would temporarily remove the object from the dynamics representation. For example, if you have a falling cube, and call sim.resetDynamicObject on it, the cube will halt, and start falling again. If you have a whole robot (e.g. a model...
by coppelia
18 Sep 2019, 06:10
Forum: General questions
Topic: Parallel robot - IK mode
Replies: 3
Views: 77

Re: Parallel robot - IK mode

Hello, how you build the kinematics of your robot will depend how you want to operate it. If you want to operate it in IK mode, then this is pretty straightforward: you simply need to have 3 branches that link together at the platform. So each branch should be: prismaticJoint --> sphericalJoint --> ...
by coppelia
18 Sep 2019, 05:59
Forum: General questions
Topic: kinematics model of hybrid robot
Replies: 9
Views: 468

Re: kinematics model of hybrid robot

You can't import the analytical equations into V-REP.

If you want a joint to maintain a specific angle, then you have to (temporarily) exclude it from IK resolution. You would do this by changing the joint mode.

Cheers