4/10/2023 0 Comments Webots jointI have recorded a quick video as well showing the issue. This is my first time using a robotics simulation software so it might just be lack of experience and knowledge, or might it be some parameter and or the large weight? The JointParameters node is a concrete base node used to specify various joint parameters related to an axis along which, or around which, the motion is. You have to specify in the constructor which world file the simulator will open. I have tried to fix it but nothing seems to work apart from changing the gravity at which point the hinge joints stay 'semi-fixed', once I move the actuators it seems like the joints are fixed on a string or a spring and the actuators lift above the boom part and then the boom follows. The WebotsLauncher object is a custom action that allows you to start a Webots simulation instance. I have also noticed that the other actuators and their hinges are not at the correct anchor points. Upon adding the arm actuator, connecting it with appropriate anchor coordinates which I double checked, then applying physics the actuator started to act unnatural, instead of falling down with the arm, as there is no force applied to the actuators yet it moves in the other direction. Step 2: Figure out your axes The next key step is to draw the axes onto each joint. Once the parts were reconstructed then I connected everything with hinge joints with appropriate anchor coordinates, then by applying physics with actual mass of each component acquired from data sheets I tested the functionality, every time I added and connected each part. As you draw, work out which way each joint moves and draw this motion as double-ended arrows onto the diagram. I am in the process of carrying out my thesis, I am using Webots software to measure the displacement of linear actuators and then carry out PID control for a manipulator of an ROV which is based on an excavator design, I have reconstructed the arm using shapes and transforms, as imported CAD models caused errors.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |