Hi

I have constructed a model of an UR5e in maplesim with the hop to be able to test my controller writen in python on it. 

I hope to be able from the model to

• Enter a tourqvalue for the joints.
• Extract joint angles, joint velocitys as well as the forces and tourqes that affects the end effector.
• (If posible) visualize the sumulated robot arm so I can se that the motion reflects that of the real robot arm.

the simulated robot arm 

The question is how to best do this in a semi realtime way?

I have been looking into generating a FMU but if there are other ways to do this, then I am open to ides. 

The contorller is based on a haptic algoritm for connecting two robot arms and I will only get one robot arm due to prise and space constraints.

This means that I will reseave realtime information from the real robot arm into my python controller that then i supose to take inforamtion from the simulated arm and with information from both arms calculate the tourqe values for both arms joints. 

Thanks in advance for all youre help

Eric Ragnarsson

Hi

I am trying to construct a controler for a UR5e robot, I have a simulation of the robot in maplesim and have started to look for a way to use multibody analysis to provide me with the Jacobian. However it only provieds the constraint Jacobian and as I have no position constraints on the robot, it returns nothing.

I then came across 

Link: https://www.youtube.com/watch?v=d3xJge_09E0&t=374s

However it is old and does not exactly say how to do it.

So I thought I should ask this wonderful comunity if they have an recomended way to construct the Jacobian from a maplesimmodel? I am still a beginner at maplesim and maple so any help is appreciated.

With thanks for helping me

Eric Ragnarsson

Hi

I am trying to create a simulation of a UR5e, I have added a spring dampening systen in order to simulate the imput of external forces and torques. However I get a strange error for which I could not find an awnser for on the web.

The closest was 

https://www.mapleprimes.com/questions/203860-Compile-Maplesim-Model-To-Ccode

However it is quite old and not entirely a match. 

I get the following output

More information

Maplesim 2020

64 bit version

Windows 10

RAM - 16 GB

Do anybody know a solution for this?

Mvh

Eric Ragnarsson

Hi,

I'm new to Maplesim and Maple. I've modeled a planar slider-crank mechanism in Maplesim and it works.

Now I want to extract the equations of motion (DAE) for further analysis. From 'Template' --> 'Worksheet', I used A:-GetEquations() to try to get the DAE. However, the equations are too long and not shown. Moreover, I don't know what coordinates Maplesim used to generated those 'unseen' equations. Here are the equations that can be hand-derived:

where I and m represent inertia and mass respectively. Theta, beta and s are the chosen generalized coordiantes, s_theta is sin(theta), c_theta is cos(theta), s_beta is sin(beta), c_beta is cos(beta). Rx and Ry are lagrange multipliers representing the reaction force in the pin between the crank and the connecting rod.

How can I generate such DAEs using Maplesim? Thank you very much.

Hi all,

I am new to maplesim and trying to learn it.

While simulation of the battery operated 4 wheeled driven electric vehicle 

it tells can't find solution.

Same time if i connect a fixed reference all four wheels are running (same place) but not moving since the frame fixed.

HELP ME TO SOLVE THIS.

thank you..

Hello guys, 

im not an expert of maplesim, I'm working on one of the default quarter car models (first pic).

I set a probe to measure the instant contact force between the tire and the post, but the graph shows that the force reaches both posite and negative values (as if the post were pulling back down the tire, is that right?)

What l have to do in order to see the real contact force graph? i just want to see the real positive value or 0. 

Hi,

I'm trying to change with a Maple Worksheet the parameters of a MapleSim Model in Real-matrices format.

is there any way to do that?

actually i get the failure note:

<<Error, (in SetParameters) non-vectorized values in vector parameters: [list= ""]>>

Thank You

Regards
Johann
 

I am a beginner of MapleSim. I study the MapleSim User Guide. I follow the Tutor 8:Modeling Hydraulic System. But the following issue occurs, as shown in the picture. I bet I follow the guide carefully.

Also, I find that if I open the User's Guide example,Chapter 6, Analysis of Simple Hydraulic System Network, which is the standard example,I simulate it and it works well. But if I delete the probe, and attach a probe at the same place , selecting same values to measure, and simulate again, it failed, giving the same error description. I need your help,please.

problem_with_Analysis_of_Simple_Hydraulic_Network.msim

Hello,

I'm working in MapleSim to model a mechanism called Schatz which has a six-Revolut, known whit TURBULA name.
I modeled the mechanism in CREO to have a CAD part to use in maplesim.
everything is okay when I run the simulation without a speed constant. as shown in the picture above.
when I add a speed source, MapleSim finds an error (Internal error occurred during the simulation).
Can someone help me please?

I created a user library and added a component that I had created from a shared subsystem and this worked fine.

I edited the component in the library to add some additional functionality and saved it.  I then had to reload the library in Maplesim but now I get this error everytime I try to run the simulation:

Cannot resolve `ControlLogix.PIDE` in model `Main`; there is no `ControlLogix` visible

Yet I dragged and dropped the component PIDE from the ControlLogix library.

Can anyone help me to resolve this?

Thanks

can maplesim simulate a robot arm and hand catch a throwing ball and picking objects?

can maplesim simulate a balancing a robot legs?

will these simulation require complex formula to draw the robots arm and hand and maintain the joints stick together during motions?

can maplesim output the specification to autodesk for 3D print parts?

how much of a maplesim? 

i can not see the price in maple official site from Hong Kong area.

Dear Community,

I run a MapleSim model from Maple. The simulation runs fine giving me the correct graphical plots, but I wonder how could I obtain also the numerical values of the probes vs. time? Sorry I could not figure it out. A matrix format would be perfect: 1st column time, the other columns probe 1 .. n values vs. time. (Files attached)

Tx for the kind help in advance,

best regards

Andras

RunMapleSim.mw , RCNetwork.msim

Hi,

I have to build a simple model in MapleSim that allows to simulate a mass that goes down along an inclined plane with a certain friction.

Is there a component that simulates the inclined plane? I tried to use a prismatic joint but it has some predifined translational directions so I can't impose the movement along the plane.

Hello,

I use MapleSim to model the dynamics of motorcycles.
I have been at MapleSim2018 for a few months and I have a problem of simplifying the equations generated by MapleSim from my model.
In MapleSim2018, he tells me:

Processing Equations...
SelectCompiler: Check for installed compiler successful
Simplifying system with 8919 equations
DSN/ix1lite: Warning, equation size increased past 100000 while performing equation simplification. Model will be simulated in partially unsimplified form
Simplification removed 8428 equations. Remaining equations: 491
Generating simulation code

the same model (exactly the same) in MapleSim2016, he tells me :

Processing Equations...
Simplifying system with 8942 equations
Simplification removed 8494 equations. Remaining equations: 448
Generating simulation code

When I generate code from two versions of Maple (2016 and 2018) and compile it into an executable, the MapleSim 2018 executable runs 20% slower than the MapleSim 2016 version of the executable (the results and the behavior of both models are equivalent)

It is very strange that a new version of MapleSim generates a slower code than the old version. it may be due to the limitation of DSN / ix1lite in MapleSim2018 ... while MapleSim2016 does not have this limitation (with more equations to simplify!).

I need help, if it is possible to activate the complete simplification in DSN / ix1lite?

it is a big problem for me, the use of MapleSim2018 is not possible because of that. My model does not pass in real time.

thanks.

HW5DC.msim

HW5HYD.msim

HW5Pneu.msim

I am trying to (again) extract the equations of the systems which have been done by me, but the equation extraction gave me wrong results.

For example;

The DC motor and the inverted pendulum equation must be 3. (third) order and only a differential equation.

The pneumatic motor and the inverted pendulum must be a differential equation (any order).

Also the hydraulic motor and the inverted pendulum must be a differential equation (any order).

I tried to use "isolate" command but it did not work for me in this case. How can I get the differential equations of the systems ?

I have added the MapleSim simulations and the differential equations that I had.

Please help me for this problem chain.