Re: Initial contact forces in task 4
by beaver » Mon 3. Nov 2014, 17:16
Hi Mathieu,
thank you for your answer.
I tried to wait 30/40 seconds (in simulation time) before to call /solve_task4 service, but the measured forces/torques remains huge and unstable.
For instance, in the two last time stamps before calling /solve_task4, I receive the following data:
qL= -0.01478, -0.00314, -0.00311, +0.00952, +0.02064, -0.07128 (left robot joint positions)
qR= -0.00308, -0.00314, -0.00354, +0.01312, +0.01140, +0.03769 (right robot joint positions)
ForceL= +117.89, -524.93, +123.96, +31.68, +14.98, -15.91 (left robot forces/torques)
ForceR= +226.74, +151.91, +600.39, -22.13, -1.81, -28.29 (right robot forces/torques)
qL= -0.01481, -0.00313, -0.00285, +0.00751, +0.02143, +0.04875
qR= -0.00332, -0.00312, -0.00308, +0.01428, +0.01424, -0.00458
ForceL= -114.93, -155.20, -250.60, +22.96, +7.30, -12.49
ForceR= -227.17, -840.30, -499.54, +69.84, +12.78, +58.73
Due to the high force/torque values, the closed chain appears to be strongly deformed (as it is possible to see in the attached pictures)
Best,
Beaver
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