Simulating indirect drives
Posted: Mon Mar 04, 2019 3:06 pm
Hi,
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.
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.