Applying a pure force #2384
Replies: 2 comments
-
|
Your question is unclear. What is a "pure force"? Do you mean in the global frame? Motor actuators attached to sites apply force/torque in the local frame. They are not velocity-dependent. Probably you are not taking something into account. |
Beta Was this translation helpful? Give feedback.
-
|
Below illustrates what is going on. The red arm body is being pushed tangentially on the blue box site via the actuator called arm. In the real world, the arm would accelerate at a constant rate until something broke. In the simulation, it quickly reaches a low steady state velocity. The only two ways this could happen is if there exists significant damping in the system somewhere, or the output of the motor is a function, presumably of velocity, rather than a constant. I'm commanding the motor with
` ` |
Beta Was this translation helpful? Give feedback.
-
Intro
Hi!
I'm a principal mechanical engineer working on a wind energy project.
My setup
Mujoco / Python / Windows 11
My question
What is the right way to apply a pure force to a model? I've been trying to get a general actuator to apply a pure force, but it seems to be velocity dependent - decaying with increased velocity.
For more context, I calculate lift and drag in my control function and apply it to a general actuator on a site that is always oriented along the apparent wind vector.
Confirmations
Beta Was this translation helpful? Give feedback.
All reactions