How to understand the physics model of a motor?

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Zhiwu
Posts: 5
Joined: Mon Jul 22, 2019 1:49 pm

How to understand the physics model of a motor?

Post by Zhiwu »

Hi All,

I am new to Bullet/PyBullet. I am confused about the physics model of a motor. For two bodies connected to one joint (p.JOINT_REVOLUTE), for a torque-controlled motor, physically where are the force applied on both bodies (what is the force and what is the lever arm vector)?

I am trying to write down some equations of motions analytically, for the following structure for example.

Thank you very much.

Best,
Zhiwu
Screen Shot 2019-07-11 at 6.28.04 PM.png
Screen Shot 2019-07-11 at 6.28.04 PM.png (170.98 KiB) Viewed 4713 times
Example codes: https://drive.google.com/open?id=1VwnT5 ... WnehoPeSCt
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