Mode
Computed-torque control
Tip trail
Gains
Kp
500
Kd
50
Seg 1 Target (deg)
phi_y1
60
deg
phi_z1
30
deg
Seg 2 Target (deg)
phi_y2
45
deg
phi_z2
-30
deg
Physics
L/seg (mm)
20
EI (x1e-6 N.m2)
1.0
m/seg (g)
2.5
Damping beta
0
Integrator (DOPRI5)
RelTol 10^
-4
AbsTol 10^
-6
Run
Pause
Reset
Seg 1
Seg 2
Drag to orbit - Scroll to zoom
Adaptive DOPRI5 (RK45) integrator
Exact symbolic M, C, G (n=2 PCC)
Soft Robot Simulator
t =
0.000
s
E =
0.0000
J
h =
-
tip (
0, 0, 0
) mm
Persp
Top
Front
Side
Ready
Angles vs desired (deg)
Torques tau_y, tau_z (N.mm)
Energy T+V (J)