How to implement a PrescribedController
Posted: Mon Mar 25, 2019 8:43 am
Dear OpenSim Community,
I am currently modelling an upper-limb exoskeleton. Now I want to introduce different moments that affect a single pin joint of my model by editing the xml-file.
To begin, I wanted to add a constant moment (in this case, 1000Nm) to the pin joint that is linked to the coordinate "Armstab_r_coord_0".
Therefore, I tried to define a CoordinateActuator in ForceSet regulated by a Prescribed Controller defined in ControllerSet.
You can find the two xml code snippets in one file attached below.
Regarding the structure of the PrescribedController class, I have the following question:
Why do I need a control storage file, if a control function already has been designed in FunctionSet?
In contrast to the CoordinateActuator, which appears in the navigator window, I cannot see the PrescribedController in the GUI.
In addition to that, I cannot see any changes in the Inverse Kinematics or Inverse Dynamics of my model.
Did I commit a mistake defining the Controller?
Kind regards,
Soeren Hufschmidt
I am currently modelling an upper-limb exoskeleton. Now I want to introduce different moments that affect a single pin joint of my model by editing the xml-file.
To begin, I wanted to add a constant moment (in this case, 1000Nm) to the pin joint that is linked to the coordinate "Armstab_r_coord_0".
Therefore, I tried to define a CoordinateActuator in ForceSet regulated by a Prescribed Controller defined in ControllerSet.
You can find the two xml code snippets in one file attached below.
Regarding the structure of the PrescribedController class, I have the following question:
Why do I need a control storage file, if a control function already has been designed in FunctionSet?
In contrast to the CoordinateActuator, which appears in the navigator window, I cannot see the PrescribedController in the GUI.
In addition to that, I cannot see any changes in the Inverse Kinematics or Inverse Dynamics of my model.
Did I commit a mistake defining the Controller?
Kind regards,
Soeren Hufschmidt