Real-Time Physics Simulation Forum

We defined an arm for a robot composed of boxes and joints. But we have problem to give a fixed position to the arm... Because if we apply some forces : the arm moves continually and if there is no force the arm fall-down. Which ways there is to apply orientations to the arm ? We didn't find any way to define a motion and keep the orientation until the next motion of the arm.

Thanks for your help

hi

you have 2 possibilities with btHingeConstraint

joint->setLimit(desiredAngle,desiredAngle,0.0, 1.0,0.0);

or

velocity = (desiredAngle - currentAngle)/timeStep;
joint->enableAngularMotor(true,velocity,10000000);

be careful with solverInfo.m_numIteration, solverInfo.m_erp and timeStep

Hi:
I am also dealing with problems relative with this simulation of robot arms consitute of rudders.
I really suggest you to look at the forkLiftDemos, it has an function called lockhinge(). There you can find a way to drive the arms and then lock them.