I have constructed a model of an UR5e in maplesim with the hop to be able to test my controller writen in python on it.
I hope to be able from the model to
- Enter a tourqvalue for the joints.
- Extract joint angles, joint velocitys as well as the forces and tourqes that affects the end effector.
- (If posible) visualize the sumulated robot arm so I can se that the motion reflects that of the real robot arm.
the simulated robot arm
The question is how to best do this in a semi realtime way?
I have been looking into generating a FMU but if there are other ways to do this, then I am open to ides.
The contorller is based on a haptic algoritm for connecting two robot arms and I will only get one robot arm due to prise and space constraints.
This means that I will reseave realtime information from the real robot arm into my python controller that then i supose to take inforamtion from the simulated arm and with information from both arms calculate the tourqe values for both arms joints.
Thanks in advance for all youre help