Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Real vs simu params and gains

Dear all,

I am wondering up to what extent the parameters and gains of a real robot are re-usable on a simulation (and vice versa: up to what extent the parameters and gains of a simulated robot are re-usable on a real robot).

Let me give some more details. Imagine I have identified a real robot and I have a good estimate of its geometric and dynamic parameters, I have also set the low-level PID gains in such a way that my real robot is well parametrized. Would I be able to reuse the same geometric and dynamic parameters and gains in the simulation and get a stable simulation with a behaviour in simulation comparable to the real life behaviour?

If the behaviours are different are they totally different and unrelated, or are the gains / parameters from the real world a good start to tweak the gains / parameters of the simulated world?

I know that gazebo uses ODE as its default engine, would the answer be the same with bullet or another engine?

Thanks,

Antoine.

PS: I am currently using the UR5 simulation from ROS-industrial and I am wondering up to what extent the simulation results could be transferred to the real robot. And how the simulation could be made as close as possible to the real life behavior.

Real vs simu params and gainsgains (behavior difference)

Dear all,

I am wondering up to what extent the parameters and gains of a real robot are re-usable on a simulation (and vice versa: up to what extent the parameters and gains of a simulated robot are re-usable on a real robot).

Let me give some more details. Imagine I have identified a real robot and I have a good estimate of its geometric and dynamic parameters, I have also set the low-level PID gains in such a way that my real robot is well parametrized. Would I be able to reuse the same geometric and dynamic parameters and gains in the simulation and get a stable simulation with a behaviour in simulation comparable to the real life behaviour?

If the behaviours are different are they totally different and unrelated, or are the gains / parameters from the real world a good start to tweak the gains / parameters of the simulated world?

I know that gazebo uses ODE as its default engine, would the answer be the same with bullet or another engine?

Thanks,

Antoine.

PS: I am currently using the UR5 simulation from ROS-industrial and I am wondering up to what extent the simulation results could be transferred to the real robot. And how the simulation could be made as close as possible to the real life behavior.

Real vs simu params and gains (behavior difference)

Dear all,all,

I am wondering up to what extent the parameters and gains of a real robot are re-usable on a simulation (and vice versa: up to what extent the parameters and gains of a simulated robot are re-usable on a real robot).

Let me give some more details. Imagine I have identified a real robot and I have a good estimate of its geometric and dynamic parameters, I have also set the low-level PID gains in such a way that my real robot is well parametrized. Would I be able to reuse the same geometric and dynamic parameters and gains in the simulation and get a stable simulation with a behaviour in simulation comparable to the real life behaviour?

If the behaviours are different are they totally different and unrelated, or are the gains / parameters from the real world a good start to tweak the gains / parameters of the simulated world?

I know that gazebo uses ODE as its default engine, would the answer be the same with bullet or another engine?

Thanks,

Antoine.

PS: I am currently using the UR5 simulation from ROS-industrial and I am wondering up to what extent the simulation results could be transferred to the real robot. And how the simulation could be made as close as possible to the real life behavior.

Real vs simu params and gains (behavior difference)

Dear all,

I am wondering up to what extent the parameters and gains of a real robot are re-usable on a simulation (and vice versa: up to what extent the parameters and gains of a simulated robot are re-usable on a real robot).

Let me give some more details. Imagine I have identified a real robot and I have a good estimate of its geometric and dynamic parameters, I have also set the low-level PID gains in such a way that my real robot is well parametrized. Would I be able to reuse the same geometric and dynamic parameters and gains in the simulation and get a stable simulation with a behaviour in simulation comparable to the real life behaviour?

If the behaviours are different are they totally different and unrelated, or are the gains / parameters from the real world a good start to tweak the gains / parameters of the simulated world?

I know that gazebo uses ODE as its default engine, would the answer be the same with bullet or another engine?

Thanks,

Antoine.

PS: I am currently using the UR5 simulation from ROS-industrial and I am wondering up to what extent the simulation results could be transferred to the real robot. And how the simulation could be made as close as possible to the real life behavior.

EDIT

There is a discussion on a related matter in (https://github.com/ros-industrial/universal_robot/issues/87 "this link").

Real vs simu params and gains (behavior difference)

Dear all,

I am wondering up to what extent the parameters and gains of a real robot are re-usable on a simulation (and vice versa: up to what extent the parameters and gains of a simulated robot are re-usable on a real robot).

Let me give some more details. Imagine I have identified a real robot and I have a good estimate of its geometric and dynamic parameters, I have also set the low-level PID gains in such a way that my real robot is well parametrized. Would I be able to reuse the same geometric and dynamic parameters and gains in the simulation and get a stable simulation with a behaviour in simulation comparable to the real life behaviour?

If the behaviours are different are they totally different and unrelated, or are the gains / parameters from the real world a good start to tweak the gains / parameters of the simulated world?

I know that gazebo uses ODE as its default engine, would the answer be the same with bullet or another engine?

Thanks,

Antoine.

PS: I am currently using the UR5 simulation from ROS-industrial and I am wondering up to what extent the simulation results could be transferred to the real robot. And how the simulation could be made as close as possible to the real life behavior.

EDIT

There is a discussion on a related matter in (https://github.com/ros-industrial/universal_robot/issues/87 "this link").https://github.com/ros-industrial/universal_robot/issues/87:[this link].

Real vs simu params and gains (behavior difference)

Dear all,

I am wondering up to what extent the parameters and gains of a real robot are re-usable on a simulation (and vice versa: up to what extent the parameters and gains of a simulated robot are re-usable on a real robot).

Let me give some more details. Imagine I have identified a real robot and I have a good estimate of its geometric and dynamic parameters, I have also set the low-level PID gains in such a way that my real robot is well parametrized. Would I be able to reuse the same geometric and dynamic parameters and gains in the simulation and get a stable simulation with a behaviour in simulation comparable to the real life behaviour?

If the behaviours are different are they totally different and unrelated, or are the gains / parameters from the real world a good start to tweak the gains / parameters of the simulated world?

I know that gazebo uses ODE as its default engine, would the answer be the same with bullet or another engine?

Thanks,

Antoine.

PS: I am currently using the UR5 simulation from ROS-industrial and I am wondering up to what extent the simulation results could be transferred to the real robot. And how the simulation could be made as close as possible to the real life behavior.

EDIT

There is a discussion on a related matter in https://github.com/ros-industrial/universal_robot/issues/87:[this link:https://github.com/ros-industrial/universal_robot/issues/87:[this link].

Real vs simu params and gains (behavior difference)

Dear all,

I am wondering up to what extent the parameters and gains of a real robot are re-usable on a simulation (and vice versa: up to what extent the parameters and gains of a simulated robot are re-usable on a real robot).

Let me give some more details. Imagine I have identified a real robot and I have a good estimate of its geometric and dynamic parameters, I have also set the low-level PID gains in such a way that my real robot is well parametrized. Would I be able to reuse the same geometric and dynamic parameters and gains in the simulation and get a stable simulation with a behaviour in simulation comparable to the real life behaviour?

If the behaviours are different are they totally different and unrelated, or are the gains / parameters from the real world a good start to tweak the gains / parameters of the simulated world?

I know that gazebo uses ODE as its default engine, would the answer be the same with bullet or another engine?

Thanks,

Antoine.

PS: I am currently using the UR5 simulation from ROS-industrial and I am wondering up to what extent the simulation results could be transferred to the real robot. And how the simulation could be made as close as possible to the real life behavior.

EDIT

There is a discussion on a related matter in link:https://github.com/ros-industrial/universal_robot/issues/87:[this link].this link.