Modeling manipulators on top of mobile platforms

Forum Forums Visual Components 4.1 Component Modeling Modeling manipulators on top of mobile platforms

This topic contains 2 replies, has 3 voices, and was last updated by Avatar csrf 1 week, 5 days ago.

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  • #15788
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    mfsilva
    Participant

    While trying to model and simulate the cooperative work of a manipulator assembled on top of a mobile platform, on which the mobile platform moves the manipulator to the desired picking / placing position and the manipulator grabs the parts, I am facing a problem.

    The mobile platform moves to the desired position and stops were it is desired (around 12 sec.). It stays stopped at the spot while the manipulator grabs a part for transportation and after this, when the mobile platform should restart its motion, it “jumps” to forward a position along its desired trajectory (around 33 sec.).

    The programming for this behavior was performed in Python.

    We cannot understand what the problem with this model is, and why the mobile platform doesn’t resume its motion from the position where it stopped.

    The developed model, where this can be verified is attached to this email.

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    #15962
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    el_prinz
    Moderator

    Dear mfsilva,

    It seems that the vehicle position will be offset after grasping action, when you continue moving the vehicle. This can be  avoided by always clearing the previous movements before giving new moving instructions, like you did in the first phase (line 26).

    vehicle.clearMove()

    I would move it to the Move function.

    #Add Control points p1 and p2
    def Move(p1,p2):
    vehicle.clearMove()
    for p in [p1, p2]:
    vehicle.addControlPoint(p)

    #16119
    Avatar
    csrf
    Participant

    While trying to model and simulate the cooperative work of a manipulator assembled on top of a mobile platform, on which the mobile platform moves the manipulator to the desired picking / placing position and the manipulator grabs the parts, I am facing a problem.

    The mobile platform moves to the desired position and stops were it is desired (around 12 sec.). It stays stopped at the spot while the manipulator grabs a part for transportation and after this, the mobile platform does not go all the way, that is cuts off path.

    The programming for this behavior was performed in Python and to define its path we used vectors.

    We cannot understand what the problem with this model is, and why the mobile platform doesn’t resume its motion from the position where it stopped.

    The developed model, where this can be verified is attached to this email.

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