Simulation Construction Set

Simulation Construction Set

  • IHMC Home
  • All IHMC Docs
  • About IHMC

›Creating Robot with Multiple Joints

Getting Started

  • Quick Start
  • Requirements
  • Using IHMC Open Robotics Software .jar releases with Maven/Gradle
  • Building .jars
  • Depending Directly on the Source

Using the SCS GUI

  • Running a simulation
  • Changing the Camera Settings
  • SCS Variables
  • Graphing Variables
  • Simulation Replay
  • Data Buffer
  • Exporting Data
  • Export Snapshots and Video of the 3D View

Creating a New Simulation

  • Summary
  • Create a New Project
  • SimplePendulumSimulation.java
  • SimplePendulumRobot.java
  • Run the simulation

Adding Control to a Simulation

  • Summary
  • Adding control to a simulation
  • Run the simulation

Creating Links

  • Summary
  • Creating Links
  • Run the Simulation

Creating Robot with Multiple Joints

  • Summary
  • Create a New Package
  • Mobile Simulation
  • Initial Variables in MobileRobot Class
  • MobileRobot Class Description

Ground Contact Modeling

  • Summary
  • Create a New Package
  • Create a New Class FallingBrickSimulation
  • Create a New Class FallingBrickRobot
  • Create a New Class WavyGroundProfile
  • Description and Analysis

Implementing Closed-Chain Mechanisms Using External Force Points

  • Summary
  • Implementing Closed-Chain Mechanisms
  • FlyballGovernorSimulation Class
  • FlyballGovernorRobot Class
  • FlyballGovernorSimpleClosedLoopConstraintController Class
  • FlyballGovernorCommonControlParameters Class
  • Description and Analysis

Summary

Duration Duration: 15 min

Keywords Keywords: Joints, Gimbal

In the previous tutorial we had created various shapes and added them to a link. In this tutorial, we will create a simulation of a child's mobile toy, using a tree structure of 21 gimbal joints (63 degrees of freedom total).
You will gain more experience with specifying joint offsets, and link translations and rotations.

This tutorial assumes that you have completed the Creating Links tutorial.

← Run the SimulationCreate a New Package →
Simulation Construction Set
Docs
Quick StartSoftware Documentation
Community
GitHubFacebookTwitterYouTube
Copyright © 2018 IHMC Robotics