Real-Time Physics Simulation Forum 2019-03-09T01:21:08+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/12622 2019-03-09T01:21:08+00:00 2019-03-09T01:21:08+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=41918#p41918 <![CDATA[Re: Simulating indirect drives]]>
There is an old issue here, I should implement it:
https://github.com/bulletphysics/bullet3/issues/1890

Statistics: Posted by Erwin Coumans — Sat Mar 09, 2019 1:21 am

]]> 2019-03-04T15:06:12+00:00 2019-03-04T15:06:12+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=41907#p41907 <![CDATA[Simulating indirect drives]]> I am fairly new to PyBullet and have a question regarding actuator modelling: Currently, I am modelling a robot that uses drives equipped with high ratio gears (>100). I want to model the effects of the motor inertia sitting behind the gear. The motor should be operated in torque-control mode. Is there any option besides using a gear constraint? The problem here is that the motor inertia would rotate with a very high velocity of >100 rad/s (Does the python binding even expose an option to increase the maximum angular velocity ?) which could potentially create instabilities.

Thank you in advance.
Best regards.

Statistics: Posted by robotguy — Mon Mar 04, 2019 3:06 pm

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