Re: Re: simulated arm/gripper

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Andrei,

Attached to this mail is a tar file with my current arm code.  Just untar
it and run breve on ArmDemo.tz.  You'll have to use the latest breve beta
or the servo classes I wrote won't work correctly.  The code isn't as clean
as I'd like, but it should be pretty readable.

As for instability, I have noticed that small changes in the order in which
things are linked or the choice of the root link can lead to dramatically
different behaviors.  In some cases, however, I've done dumb things like
fixing the arm at a point that's closer to the floor than the arm is long,
and the simulation does the best it can to deal with that, which usually
involves lots of flailing around.

Comments/questions on the attached code are welcome.

One kink I'd like to work out has to do with orienting the arm.  I've got a
method called "attach" that allows you to specify a link and location on
the link where you'd like the arm to be attached.  I'd also like to specify
an orientation.  If I use set-relative-rotation, I get the orientation, but
the physics engine tries to swing the arm from its current orientation to
the new one in one tick, and the arm flails wildly as it tries to return
its joints to their nominal positions.  I'd like to know how to rotate the
arm without having this happen.  I suspect it might have something to do
with the timing of the set-relative-rotation, e.g. before the other
components of the arm are linked together.

  - tim

On Mon, 25 Jul 2005, Andrei Androsoff wrote:

> Tim, all,
>
> I've been trying to build an articulated arm too and have been
> running into a lot of problems with the physics engine. It seems that
> if I add too many links to my MultiBody, the arm tends to fly apart
> or fly away (!) when the simulation starts (often preceded by a
> painful-looking squirming and wiggling). If I tweak the physical
> dimensions of the Joints or Shapes it often removes the problem,
> until I move a particular joint too far, and then the machine flies
> apart.
>
> Sometimes the coordinate system of child objects seems to get messed
> up as well - moving a parent object will cause the child to rotate
> (e.g. flexing your elbow will cause your wrist to twist). Again if
> you make the joint a little bigger or longer, keeping the normals the
> same, the problem will go away or get worse). I don't know of any
> more genteel way to put it other than the physics engine is "freaking
> out".
>
> I have also built walking robots and experienced similar problems.
> The behaviour is sometimes determinate (same thing happens every time
> you start the sim) but sometimes it actually varies between runs (no
> random numbers in the code of course).
>
> Tim, since you say your arm works, did you run into anything like
> this? Any pointers? Does anybody else experience these things?
>
> By the way, I'm not enabling self-collisions and I'm not using set-
> relative-rotation for any of the joints. All my joints are instances
> of a subclass of RevoluteJoint.
>
> I know this screams for a code example but I want to clean it up a
> bit and see if there is any obvious fix in the meantime.
>
> Andrei
>
>
> _______________________________________________
> breve mailing list
> [email protected]
> http://lists.spiderland.org/mailman/listinfo/breve
>

---------------------------------------
Tim Oates, Assistant Professor
Department of CS and EE
University of Maryland Baltimore County
(410) 455-3082
http://www.cs.umbc.edu/~oates


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