Startup of the physics simulation (digital twin)

The physics simulation function for the "collision detection" and "precontrol" use cases is implemented via the interaction of higher-level software nodes and lower-level axes. Therefore, startup of the function requires both configuration steps in the higher-level MOVIKIT^® Robotics and in the software modules of the lower-level axes.

INFORMATION

To preserve realistic values for the physics simulation of the drive train, the friction curve should be measured with the robot arm before assembling the drive train.

• Putting the physics simulation into operation in MOVIKIT® Robotics
• Putting the physics simulation into operation in the software module of the lower-level axis
• Starting up torque precontrol
• Starting up collision detection