RE: Building a Robot! (Simulated)

balearicdynamics — Fri, 03 Mar 2017 05:11:03 GMT

Hey Shabaz! Am I wrong or this is not the first time you work on this platform? In past (when I read the first article) I remember I installed it and explored the power of this tool. Now something has changed in software of the it is remained always the same?

Enrico

RE: Building a Robot! (Simulated)

dpushkashu — Sat, 21 Nov 2015 07:59:57 GMT

Just installed Gazebo v 6.1. All works fine. Thanks.

RE: Building a Robot! (Simulated)

balearicdynamics — Sat, 14 Nov 2015 08:47:14 GMT

Hi Shabaz!

It sounds strange but I had serious problems installing Gazebo with the single-command. Used a newly fresh installation of Ubuntu 14.04.3 LT (the last updated) and I get serious issues of dependencies. Maybe there is something I have missed or not read in the Gazebo installation tutorial. What method did you used? The shell script I have downloaded it from the main gazebo site ...

Enrico

RE: Building a Robot! (Simulated)

shabaz — Thu, 12 Nov 2015 23:26:58 GMT

Hi Shabaz! Really, thank you to point on this. It seems very good. At the moment I am working on the following "robotizations" Camera slider with controller and horizontal programmable movement; camera tilt-pan movement and a gimbal (motorised stabiliser). This is first for a specific client that uses a camera model I already have all the details, included the weight that make the difference on the steppers and brushless DC motors torque, speed and other parameters. This simulation software sounds to be the solution. What I have not yet clear (but I should download it soon and test it) is if it is possible to define a full physical model (inertial forces, nodes speed force and torque etc.) The other question (maybe you already have the answer) is if it is possible to "assemble" in the simulation a model - also simplified - respecting the physical model and the structural design. In this case this application will be really useful to save a lot of experimentation time.

Enrico

Hi [mention:2136c4649d3b47f78653b7e97ac61f69:e9ed411860ed4f2ba0265705b8793d05]

The objects do have mass, center of gravity and a 'rotational inertia matrix' that can be specified, and it is possible to apply force and torque with any vector from the GUI or from the API.

An XML called SDF is used (see the 'Link' tab for the inertial properties). The settings for the coke can for example in the GUI specify a mass and all other values set to zero:

[View:/resized-image/__size/240x454/__key/commentfiles/f7d226abd59f475c9d224a79e3f0ec07-ad6e5573-337d-41b3-874f-624b9d59ff29/7848.contentimage_5F00_183717.png:240:454]

It does appear that very complex assemblies can be created and can interact with their environment. From the included models, here is a robot and its field of view:

[View:/resized-image/__size/620x433/__key/commentfiles/f7d226abd59f475c9d224a79e3f0ec07-ad6e5573-337d-41b3-874f-624b9d59ff29/1172.contentimage_5F00_183718.png:620:433]

This is a more simple arm type robot:

[View:/resized-image/__size/620x431/__key/commentfiles/f7d226abd59f475c9d224a79e3f0ec07-ad6e5573-337d-41b3-874f-624b9d59ff29/0676.contentimage_5F00_183719.png:620:431]

There are miscellaneous bits and pieces including walls and ramps:

[View:/resized-image/__size/620x281/__key/commentfiles/f7d226abd59f475c9d224a79e3f0ec07-ad6e5573-337d-41b3-874f-624b9d59ff29/0508.contentimage_5F00_183720.png:620:281]

I'm going to try and understand how to produce a simple single mechanical movement or linkage, and then see how to use the API to apply a force or torque.

RE: Building a Robot! (Simulated)

DAB — Thu, 12 Nov 2015 21:20:24 GMT

I agree.

I was not aware that Gazebo existed, but it definitely looks interesting to look at mechanical designs.

I will add it to my list of tools to check out.

Thanks,

DAB