Understanding Force Sensor on Cables for Cable Driven Robots #2518
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IntroHi! I am a researcher and I use MuJoCo for my research on Cable Driven Parallel Robots My setupI'm using Mujoco 3.3.0, x86 on Ubuntu 22.04 My questionI want to simulate a cable driven parallel robot, which is simply a square object connected to four cables from each corner. I want to measure the forces at each cable, and for simplicity I connected one cable and let the square hang and measured the force using force sensor. The square weighs 1 kg, so the force sensor output should be -9.81 on z axis (index 2 of the array) but as seen in the screenshot below I'm getting [-7,-7,0] which if I take sqrt(7^2+7^2) would actually give me 9.81 which is the correct value. I want to understand why the forces are on x and y axes and not on z. And would this setup scale correctly for four other cables, would I measure each cable independently correctly?
Minimal model and/or code that explain my questionConfirmations
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Replies: 1 comment
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So I visualized the frames and realized the forces are in relative frame not global frame which now they make sense.
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So I visualized the frames and realized the forces are in relative frame not global frame which now they make sense.