英文:
Simulating a rope with drake
问题
我发现在Drake文档中有DeformableModel类，并且我已经看过一个使用Drake中的绳子的视频。我想模拟一个带有负载的绳子，但我不知道如何创建绳子。您能否给我一些建议或示例。谢谢。
英文:
I find that there is DeformableModel class in the drake documentation and I have seen a video used the rope in drake. I want to simulate a rope with a payload but I don't know how to create a rope. Could you please give me some advice or examples. Thank you.
答案1
得分: 1
我同意Xuchen的观点 - 我们之前在Drake中使用一系列刚性链接来模拟绳子。
- 如果你通过球关节连接它们，那么你可以模拟阻尼。
- 如果你还想模拟绳子的（线性和扭转）刚度，那么你可能更喜欢使用我们的
LinearBushingRollPitchYaw元素来连接这些链接，它直接模拟了这些刚度。
需要注意，模拟这种衬套元素会稍微昂贵一些，而且需要理解，非常大的刚度或阻尼系数会要求更小的模拟时间步长（模拟速度较慢）。
英文:
I agree with Xuchen -- we have definitely simulated ropes in Drake before using a series rigid links.
- If you connect them by ball joints, then you can model damping.
- If you also want to model the (linear and torsional) stiffness of the rope, then you might prefer to connect the links with our
LinearBushingRollPitchYawelements, which models those stiffness directly.
The bushing element will be a bit more expensive to simulate, and one always needs to understand that very large stiffness or damping coefficients will require smaller simulation time steps (again slower simulation).
通过集体智慧和协作来改善编程学习和解决问题的方式。致力于成为全球开发者共同参与的知识库，让每个人都能够通过互相帮助和分享经验来进步。
评论