[ODE] Servo to reach a target position

[Antonio_Martini@scee.net]

>of course you are still free to apply computed forces for other reasons.
>but if all you want is good velocity control, for many applications ODE's
>motors will do the job better.
are motor forces computed by the LCP solver? if so one disadvantage could
be that
they slow down the simultation when performances are important and many
DOF's are involved.
The iterative solver should probably fix this problem.

on a similar matter, i experimented with a O(n) hybrid-dynamics
algorithm(controlled joints have inverse dynamics the others forward
dynamics) time ago, but the problem is that force limits cannot be handled
in a natural way. Just clamping the resulting forces makes the system much
more unstable.
does anyone have experience with inverse dynamics control, these kind of
problems and their possibile solutions?

thanks,
Antonio







Russ Smith <russ@q12.org>@q12.org on 11/04/2003 07:03:11

Sent by:    ode-admin@q12.org


To:    Nate W <coding@natew.com>
cc:    <ode@q12.org>
Subject:    Re: [ODE] Servo to reach a target position


of course you are still free to apply computed forces for other reasons.
but if all you want is good velocity control, for many applications ODE's
motors will do the job better.

russ.

--
Russ Smith
http://www.q12.org/

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