Controlling joints with precision

A place to discuss everything related to Newton Dynamics.

Moderators: Sascha Willems, walaber

Controlling joints with precision

Postby yoshy » Mon Mar 02, 2009 11:57 am

Hello everybody.

I'm currently working with NGD SDK 2.00 to simulate a 7 DOF robotic arm. However, I'm having a problem. I can't control the position of the joints with precision. I had a look on the custom joints lib, and didn't found anything that suited me in this particular application (maybe I haven't seen correcty). So, I started to use the normal hinge joint, with the jointcallback. I'm trying to control the position of the joint by controlling the angular acelaration proportionally to error. But with small displacements (small variations of the angle) the arm not even moves, no mather what propotionality constant I use.

Does anyone knows how I can control the joints with accurate precision? Is there anything in the custom joints that can help me?

thanks in advance.
yoshy
 
Posts: 4
Joined: Sun Feb 08, 2009 3:28 pm

Re: Controlling joints with precision

Postby PJani » Mon Mar 02, 2009 3:42 pm

You can use calculateStopAlpha and changing angle by step but you cant go 360 with this solution...you can go from 0 to -180 or 0 to 180 or 180 to 0 to -180 or reverse, but if you will try to go from -180 to 180 or 180 to -180 joint jumps baddly.
| i7-5930k@4.2Ghz, EVGA 980Ti FTW, 32GB RAM@3000 |
| Dell XPS 13 9370, i7-8550U, 16GB RAM |
| Ogre 1.7.4 | VC++ 9 | custom OgreNewt, Newton 300 |
| C/C++, C# |
User avatar
PJani
 
Posts: 448
Joined: Mon Feb 02, 2009 7:18 pm
Location: Slovenia


Return to General Discussion

Who is online

Users browsing this forum: No registered users and 16 guests

cron