[ODE] Inverse Kinematics

[Guillermo Andrade B.]

Hello

You must control speed too:

forceVector = scale*(goal_location_vector - hand_location_vector) 
	      + scale2*(goal_speed_vector - hand_speed_vector)
addForce(forceVector)

But in some cases, when arm is near singular configurations, scale and scale2 must be changed in the aim to preserve stability. See keys : Jacobian, Gain Matrix, stability


best regards,

Guillermo Andrade


Bernie Roehl a écrit :
> Hi everyone
>
> I'm doing a robot arm simulation, and I want to have the robot simply 
> reach toward a goal point and follow the goal as it moves.  I could use 
> IK, but I'm thinking there's probably a way to do it using ODE.
>
> I'm implemented something similar to the double-pendulum example, but 
> with a force that moves the second pendulum towards the goal point. 
> Essentially I'm doing this:
>
> forceVector = scale*(goal_location_vector - hand_location_vector)
> addForce(forceVector)
>
> Of course, what I get from that is just a pendulum -- the hand 
> accelerates towards the goal point, and travels past it, before the 
> force pulls it back towards the goal again, and so on.
>
> Anyone have any suggestions on a good way to do this?  Ideally, I'd like 
> to have the hand accelerate and then decelerate so the final velocity is 
> zero when it reaches its goal.
>
> Thanks in advance for any suggestions.
>
>
>