Controlling joints with precision

[yoshy]

Hello everybody.

I'm currently working with NGD SDK 2.00 to simulate a 7 DOF robotic arm. However, I'm having a problem. I can't control the position of the joints with precision. I had a look on the custom joints lib, and didn't found anything that suited me in this particular application (maybe I haven't seen correcty). So, I started to use the normal hinge joint, with the jointcallback. I'm trying to control the position of the joint by controlling the angular acelaration proportionally to error. But with small displacements (small variations of the angle) the arm not even moves, no mather what propotionality constant I use.

Does anyone knows how I can control the joints with accurate precision? Is there anything in the custom joints that can help me?

thanks in advance.

[PJani]

You can use calculateStopAlpha and changing angle by step but you cant go 360 with this solution...you can go from 0 to -180 or 0 to 180 or 180 to 0 to -180 or reverse, but if you will try to go from -180 to 180 or 180 to -180 joint jumps baddly.