Thanks for the answer Dimitar.

Best regards

Hello, Right know, I am working with a double pendulum and I am trying to control each joint of it with the following control law: controlLaw.png where U(\theta,t) is my control law ( The angular accelerations are computed there taking into account the error generated by the position of the joint). ...

Right Know I'm working with a double pendulum. Thus, the Kenechukwu Mbanisi's approximation is useful.
Thanks Dimitar Stanev and Christopher Dembia. I will take into account your the advises.

Hello, I was developing my own controller in order to control a joint of a pendulum. I've created class that derives from the Controller class. The thing is that I'm interested in obtain angular acceleration from the "Mobilizedbodies" in the method "void computeControls()", but when I call getBodyAn...

I could find a solution, thanks for the help. I post the following code in case that somebody is interested in it. // Other variables // PinJoint Initial States double q1_i = -SimTK::Pi/2, q2_i = 0, q3_i=0; Model osimModel; osimModel.setName("pendulumFriction"); osimModel.setAuthors("Dídac Coll"); o...

Hello, I'm using a PinJoint joint and I want that joint only move inside a range of angles. For example, between 0 and pi/2. I could see that it can set a range of angles inside the joint but it is not doing what I expected. In other words, when I applie a torque force, the body starts to rotate. An...

I suppose that you want to move all the body not only the lower body. If it is the case, then I put the following example in C++. // This create all the bodies OpenSim::Body* link1 = new OpenSim::Body("link1", linkageMass, linkageMassCenter, linkageMass*linkageInertia); // Graphical representation l...

I'm new in C++ OpenSim library and I'm checking the possibilities of it. My question is I don't know how exactly add friction between two bodies that are connected with a "PinJoint" joint. I've taken a look at class SpringGeneralizedForce but I don't have any idea how to use it. Any help will be gra...