Search found 8 matches

by kkim108
05 May 2016, 23:54
Forum: General questions
Topic: Issues with simRMLMoveToPosition
Replies: 1
Views: 613

Issues with simRMLMoveToPosition

Hi, I am using simRMLMoveToPosition, and for some reason, it is taking a very long time to execute. I have posted the times for a loop of simRMLMoveToPosition function calls below. Could you explain why it takes so long to execute this function? Also I am using simRMLMoveToPosition to move between t...
by kkim108
01 May 2016, 20:06
Forum: General questions
Topic: How to use simGetConfigForTipPose
Replies: 3
Views: 812

Re: How to use simGetConfigForTipPose

Will simGetConfigForTipPose return a pose that involves the least movement from the robot arm? The example scene showed the arms moving rather extremely to move a small amount, but I'm not sure if that was intended from the code. If I wanted to move the tip only 1 cm, I'd like the arm to move as lit...
by kkim108
29 Apr 2016, 04:50
Forum: General questions
Topic: How to use simGetConfigForTipPose
Replies: 3
Views: 812

How to use simGetConfigForTipPose

Hi,

I was looking at the parameters for simGetConfigForTipPose, and I was confused because I don't see any parameter for the actual goal tip pose. Is the goal tip pose set using another function?

Thank you.
by kkim108
21 Apr 2016, 18:04
Forum: General questions
Topic: Cartesian space to joint space
Replies: 1
Views: 1768

Cartesian space to joint space

Hi, I was wondering if there was a way to go from Cartesian space to joint space. I have a desired position in x,y,z coordinates, and I wanted to set the desired joint angles in the robotic arm to move to that desired x,y,z coordinate. I know there is a function that will handle moving the arm to th...
by kkim108
11 Apr 2016, 03:32
Forum: General questions
Topic: Calculating end effector force of arm
Replies: 1
Views: 723

Calculating end effector force of arm

Hi, I am trying to calculate the end effector force of a 7-jointed robotic arm by multiplying the Jacobian by the external torques on each joint. I use simComputeJacobian and simGetIKGroupMatrix to get the Jacobian matrix. One thing I thought was strange was that the dimensions of the Jacobian are 7...
by kkim108
10 Apr 2016, 22:22
Forum: General questions
Topic: Following path at varying velocities follow up
Replies: 1
Views: 1060

Following path at varying velocities follow up

Hi, This is a follow-up question to this post: http://www.forum.coppeliarobotics.com/viewtopic.php?f=9&t=5209 So this algorithm works to traverse a path at varying speeds, but I noticed that simFollowPath looks much smoother than this algorithm, even if the algorithm is set to follow a constant velo...
by kkim108
29 Mar 2016, 09:15
Forum: General questions
Topic: How do I follow path at varying velocities?
Replies: 2
Views: 1208

Re: How do I follow path at varying velocities?

Thank you! That is exactly what I needed.
by kkim108
23 Mar 2016, 16:19
Forum: General questions
Topic: How do I follow path at varying velocities?
Replies: 2
Views: 1208

How do I follow path at varying velocities?

Hi, I am trying to make an object in vrep adjust the velocity it follows its path in real time. simFollowPath has a velocity parameter that makes the object follow the entire path at the specified velocity. However, if I want the object to slow down at some point along the path that is unknown until...