5 votes

"modern contact dynamics" - Why are spring-damper contact models not being used anymore for dynamic simulations in robotics?

The author appears to be writting in a self promotional style, where the details listed about other work are simplified or ignored so that their claim, that their approach is better, can be ...
hauptmech's user avatar
  • 4,415
5 votes
Accepted

Does simulink accepts robotics toolbox in matlab?

The MATLAB function block in Simulink has some limitations. The fact that Link.m is referred to as a function not a class is a worry. I recreated your Simulink model and get similar error messages, ...
Peter Corke's user avatar
  • 1,692
4 votes

Does simulink accepts robotics toolbox in matlab?

You appear to be using a third-party toolbox, the Robotics Toolbox. If it's not running in Simulink, then it might not run in Simulink. If you want something that does, try the official toolbox. ...
Chuck's user avatar
  • 16k
4 votes
Accepted

Suggestion for relevant non-complex simulator

just use matlab or and python with a set of fixed features in space represented as points. Don't do any vision processing. At this point any vision processing would be overkill. you are making this ...
holmeski's user avatar
  • 1,853
4 votes

Computer stereo vision simulator

I highly advise against using synthetic image data for testing your stereo vision algorithms. What will happen is that you end up with a system that works excellent on your synthetic data, but poorly ...
Konstantin's user avatar
4 votes
Accepted

How do people create complex models/worlds in the Gazebo?

Those kinds of models are made in CAD software, exported to 3D rendering software to apply textures, and then imported in Gazebo. Or they are generated in some other way, e.g. through photogrammetry. ...
JRTG's user avatar
  • 1,624
3 votes
Accepted

Roy Featherstone toolbox robot model

I changed the code and now it works properly. ...
Capri's user avatar
  • 99
3 votes
Accepted

How can I use the pen Node on my custom robot in webots?

firstly I have to say I'll make a youtube tutorial video on how to do this complete procedure for future students wondering about this problem. Answer with more tweaking on the ...
Arya Parvizi's user avatar
3 votes
Accepted

How to program to generate robot URDF(Serial manipulator) when having stl file of each link with Python

Thank you,Now I have found odio_urdf library that can generate urdf by programming in python like you code in urdf file.
Matas Manawakul's user avatar
3 votes
Accepted

How to generate a mesh file for URDF

The URDF file simply references DAE/COLLADA files that exist elsewhere on the filesystem. Blender and FreeCAD have exporters for DAE files. Saying Blender is a "monstrous tool" is an opinion ...
robotsfoundme's user avatar
3 votes

How do people create complex models/worlds in the Gazebo?

There are scripts for various tools that automate the generation of an SDF (you may need to adjust/fix some parameters afterwards). Due to Gazebo's backwards compatibility for older SDF versions, ...
Bi0T1N's user avatar
  • 367
2 votes

Is ROS (Robot Operating System) mandatory?

Disclaimer: This answer is somehow a reaction to the Shahbaz' post, so it has a pro-ROS bias. I do not think that ROS is mandatory, but it is a great starting point and worth the time to invest. It ...
FooTheBar's user avatar
  • 1,375
2 votes

Computer stereo vision simulator

I did similar project with v-rep, python and opencv. 1- Set up an enviorement with visible objects 2- Set up your vision sensors with parameters 3- Write a python script that connects you to v-rep ...
acs's user avatar
  • 1,124
2 votes

Validation of dh parameters

I'm not a fan of DH parameters but they are entrenched in robot kinematics. An approach I prefer is to just write the whole chain as a series of simple transformations, eg. Ry is a rotation about the ...
Peter Corke's user avatar
  • 1,692
2 votes
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Validation of dh parameters

The easiest way to validate a set of DH parameters is to plug them directly into a simulator which can build a robot model from a DH table. Once you've got the DH-generated robot model, you can verify ...
Brandon J. DeHart's user avatar
2 votes
Accepted

What criteria should be considered when comparing 2 robot simulation/modelling software?

I think the most important criteria are the purpose of your simulator (do you need contact physics? how complex are your models? ) your fluency in both solutions the size and quality of the ...
N. Staub's user avatar
  • 1,412
2 votes
Accepted

Free 2 and 3d simulators

As for as I am understanding your question, you are asking about open source physics engines for simulation, So here's a short list: 1. Box2D, 2. Bullet Physics, 3. Chipmunk, 4. Chrono::Engine, 5. ...
Muhammad Idrees's user avatar
2 votes

Manually generate antipodal grasps for grasping

You can use GraspIt! from the moveit ROS metapackage. I would recommend, however, deriving your own vector approach for grasping objects. You have to give your grasping software your gripper ...
robotsfoundme's user avatar
2 votes
Accepted

Simulator that allows your to test your real firmware inside a simulated world?

:EDIT: - In response to the question edit, In my simulator/test harness however, I simply have the BuggBoard 9000 connected to a power source and its running my firmware. Instead of a USB camera I ...
Chuck's user avatar
  • 16k
1 vote

What robotic simulators simulate the reflectivity of objects?

This is exactly my domain - I've been doing realtime lidar simulations for industrial and automotive autonomy for 5 years now. One of my biggest pet peeves is the assumption lots of people make that ...
Chuck's user avatar
  • 16k
1 vote

How to simulate a quadcopter using robotics simulator?

I have never used it ,because I have always dealt with custom simulators but I know others have had success with the RotorS simulator. Answers to your questions: 1) Can I modify these models so ...
edwinem's user avatar
  • 1,861
1 vote
Accepted

All Joint Angle values not converging to desired set point (I am using Roy Featherstone's Spatial Toolbox)

Sorry I saw this as I was checking emails. Just got off a very long international flight so my answer below may not be super coherent. tl;dr - You're not integrating your reference error anywhere and ...
Chuck's user avatar
  • 16k
1 vote

Simulator for NEMA17 (stepper motor) and A4988 (stepper motor driver) along with Arduino

You can do that in Proteus. You can simulate a stepper motor there, but only to see the motion, it is not possible to simulate the speed, inertia, and mechanical response.
jdios's user avatar
  • 497
1 vote
Accepted

3-DOF Robot Dynamics error in Robotics Toolbox

This is not a great error message and it only happens if you are using the MATLAB rather than the (100x) faster MEX version of the dynamics. The error occurs because the motor inertias are not set, ...
Peter Corke's user avatar
  • 1,692
1 vote

Ontology/marketplace of robotics components and integration environment (BPEL or CAD for robotics)?

Do professional robot designers use semi or fully automated toolchains to implement physical systems? Of course. Especially if you broaden your definition of robot to electro-mechanical system. ...
hauptmech's user avatar
  • 4,415
1 vote

"modern contact dynamics" - Why are spring-damper contact models not being used anymore for dynamic simulations in robotics?

For the record, here is the answer from the author himself in one of his articles: The difficulty with traditional spring-damper models is that, if the contact-space inertia is too large the contact ...
duburcqa's user avatar
  • 111
1 vote

How can I run Tests/Simulations of Control and Motion Planning for a Bare Metal Robot?

You can alter the C code structure in the Controller, so that the code you want to test is indepencent from platfrom specific code. (You can only test the platform independent code using Software in ...
50k4's user avatar
  • 6,652
1 vote
Accepted

What software can I use to 3d model and simulate my robot?

All depends on much "standards" is your robot and how much coding of the simulator you want to code. If you don't want to simulate contact the easiest way is to write down your own simulator in you ...
N. Staub's user avatar
  • 1,412
1 vote
Accepted

Motion input in Simmechanics Matlab.

2 represents a constant acceleration of the revolute joint. It's unit of measure cannot be determined from this screenshot, since it is a parameter of the joint actuator (to my knowledge it can be set ...
50k4's user avatar
  • 6,652
1 vote

Bullet vs ODE to simulate robotic arm

The accuracy of the physics engine will most likely not be a problem. Differences between real world systems and their models are a much larger factor of errors then the slight differences between ...
50k4's user avatar
  • 6,652

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