Mirror real robot using Bullet
Posted: Tue Apr 28, 2015 7:29 pm
Hi,
I want to try to mirror the movements of a real robot for a research project. The idea is to get the rotation of each axis from the real robot controller via Ethernet, create a virtual robot using Bullet, and try to make the Bullet robot move "exactly" the same, or at least follow as close as possible, the real one.
I want to use Bullet because I want collision detection, and not just a visual representation.
I have worked a lot with different constraints before, but if I'm not wrong, the axis motors can't be controlled in position, just in speed. So, the only solution I can think is to implement a position controller (PID for example) on each axis motor to try to follow the real axis position. Ok, another solution could be to set each axis limit to the real axis position (Min=Max=real pos) continuously, to "force" the rotation, but it does not sound so nice, or?
Is there anyone who can have an idea how to approach this more efficiently?
Regards,
Mike
I want to try to mirror the movements of a real robot for a research project. The idea is to get the rotation of each axis from the real robot controller via Ethernet, create a virtual robot using Bullet, and try to make the Bullet robot move "exactly" the same, or at least follow as close as possible, the real one.
I want to use Bullet because I want collision detection, and not just a visual representation.
I have worked a lot with different constraints before, but if I'm not wrong, the axis motors can't be controlled in position, just in speed. So, the only solution I can think is to implement a position controller (PID for example) on each axis motor to try to follow the real axis position. Ok, another solution could be to set each axis limit to the real axis position (Min=Max=real pos) continuously, to "force" the rotation, but it does not sound so nice, or?
Is there anyone who can have an idea how to approach this more efficiently?
Regards,
Mike