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Post by hexpod on May 1, 2016 0:21:40 GMT
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Post by vicpopo on May 1, 2016 21:37:12 GMT
Very interestning video ! Did you rework the xsim 6dof plugin ? I can't believe how surge and sway are flat movements ! With my 6dof I didn't achieve with the parameters in the 6dof plugin so perfect flat surge and sway. When you reach an out of reach position with the xsim 6dof plugin the movement is stoped ! Isn't it. I noticed that my plateform is still when reaching the out of reach position.But as the data are always sent to the simulator you quiet feel nothing .I feel just like a latence problem . If you change the parameter limiters in the 6dof plugin , the out of reach position is changed.
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Post by hexpod on May 1, 2016 23:45:18 GMT
Very interestning video ! "With my 6dof I didn't achieve with the parameters in the 6dof plugin so perfect flat surge and sway."
One of the reason could be the difference of the servo placement and orientation between the 3d model and your design.
Another reason could be a wrong starting position offset. Unfortunately there is no offset parameter which can be set up in the gui.
With the actual plugin state, finding a good response is a time consuming try and error process. but it's not impossible.
"But as the data are always sent to the simulator you quiet feel nothing .I feel just like a latence problem ."
you could maybe try to correct it by applying faster washout filters in x-sim
"If you change the parameter limiters in the 6dof plugin , the out of reach position is changed."
Not at all. There is no slider for "out of reach" limiter in the gui and it's a fix parameter related to the kinematic equation which always try to keep the geometrically pure dof response.
In the video, you've noticed already, when the limit is occurring for the first time, the lever Nr2 has reached his max. upper position while executing a roll dof. As this lever can not send the actuator higher, the limiter is stopping the other five, in order to keep uncorrupted pitch and roll.
The combined pitch and roll ability will always be less that the single pitch and roll. More you increase one, more you limit the other.
cheers
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Post by vicpopo on May 2, 2016 10:47:00 GMT
Thanks hexpod for your explaination !
For the third point I 'm quiet sure that changing in the 6dof plugin in window limiters ( knee cap limit or /and servo limit) ,I avoided "out of reach " message in the plugin window. I concluded by myself that limiters were being a kind of software protection to avoid extrem position ( depending also from all your electronic setup ( inverters , speed , accelerations etc...) to stop the simulator inertia)
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Post by hexpod on May 2, 2016 12:07:01 GMT
For the third point I 'm quiet sure that changing in the 6dof plugin in window limiters ( knee cap limit or /and servo limit) ,I avoided "out of reach " message in the plugin window. I concluded by myself that limiters were being a kind of software protection to avoid extrem position ( depending also from all your electronic setup ( inverters , speed , accelerations etc...) to stop the simulator inertia) "Knee cap" limit has nothing to do with "out of reach", but you are right, by limiting the crank lever displacement ("servo limit") you are limiting the overall workspace of the 6-dof, so automatically out of reach will proportionally occurs sooner. For the biggest workspace put 180 deg. Than you can use the "knee cap limiter" to limit your rig. This way you are sure to get the biggest possible displacements (be careful.... don't damage your joints)
I consider Thanos plugin "out of reach" feature, more like a geometry guardian than a limiter. It's just there to stop all other actuators when only one of them is reaching the "servo limit" position.
That's the way I understand this behavior.
cheers
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Post by vicpopo on May 2, 2016 18:50:25 GMT
For the third point I 'm quiet sure that changing in the 6dof plugin in window limiters ( knee cap limit or /and servo limit) ,I avoided "out of reach " message in the plugin window. I concluded by myself that limiters were being a kind of software protection to avoid extrem position ( depending also from all your electronic setup ( inverters , speed , accelerations etc...) to stop the simulator inertia) "Knee cap" limit has nothing to do with "out of reach", but you are right, by limiting the crank lever displacement ("servo limit") you are limiting the overall workspace of the 6-dof, so automatically out of reach will proportionally occurs sooner. For the biggest workspace put 180 deg. Than you can use the "knee cap limiter" to limit your rig. This way you are sure to get the biggest possible displacements (be careful.... don't damage your joints)
I consider Thanos plugin "out of reach" feature, more like a geometry guardian than a limiter. It's just there to stop all other actuators when only one of them is reaching the "servo limit" position.
That's the way I understand this behavior.
cheers
[/p] Agree with you for the out of reach feature ! ;-) And thank you for your tips concerning the 180° workspace.I will have a look carefully !
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