[WIP] Infernal Robotics Robotic Arms

[sirkut]

Well, it does work:

http://youtu.be/yYSvdxrRU2E

Except because you have to use a non-kinematic rigidbody for the end effector GO that the joint gets created on, it produces no reaction force against the parts rigidbody and we're kinda breaking the laws of physics. This wasn't something I foresaw... Thoughts?

It's better than nothing right now and worth a shot at least.

[lo-fi]

One thing that did occur to me was this method is absolutely fine for static stuff. Not sure how much call there is for fixed cranes and the like, though.

It's literally just POC code, but I'll tidy a little and send over.

[Gaalidas]

I wouldn't worry about breaking the laws of physics. Laws are meant to be broken, after all.

[Jovzin]

Wau that looks great.

I will be able to get that Mun Scansat and put it in cargo hold with a nice robotic arm.

Nice work guys

[spudbean]

Hey sirkut: just someone else checking in to see the state of this code

I'm trying to create a robotic canadarm-style arm. I've made a few with IR (and a KAS Magnet), which I've been very happy with except for the physics wobble. The Lazor arms are great in terms of wobble, but they are one-size-fits-all, and they have a one-size-fits-all effector. The Lazor effector afaict establishes a dock between the two vessels, so that they become one vessel. This is troublesome for my "candarm" usecase, where I want to mimic something like the Canadarm2 on the ISS where the arm positions a new components to dock onto the ISS. This is troublesome with the Lazor arm effector because when the effector is grabbing the components, everything is formed as one vessel and you can't dock a vessel to itself.

So I have some hope vested in your WIP IR robotic arms I'm a) keen to model my own parts with your code driving the movement, allow the end of the arm to be an attach-node instead of (or as well as) some kind of in-built effector. With an attach-node at the end of the arm users would be free to customise the effector as they see fit.

If you've got your WIP to the point where the movement is sort of working, but the effector is missing, I'd love to have a look at it. Thanks for your work, I know you are busy

[sirkut]

lo-fi sent me some code that could be used for attaching items so that is promising. Due to my time constraints I may send him the 'beta' code to look at.

[Albert VDS]

This mod would make it possible to have an actual sturdy strong back mobile launch tower for reusable rockets.

[Cheesecake]

Any News?

[montyben101]

News? Shame if this dies...

[sirkut]

News? Shame if this dies...

It's not dying, I'm extremely busy these past few months.

[Jovzin]

Sirkut what do you think of this

http://forum.kerbalspaceprogram.com/threads/112881-0-90-RKE-Kanadarm-v0-10-0-March-12

It looks simmilar to your addon that you were doing here right ?

[sirkut]

Sirkut what do you think of this

http://forum.kerbalspaceprogram.com/threads/112881-0-90-RKE-Kanadarm-v0-10-0-March-12

It looks simmilar to your addon that you were doing here right ?

Nope, not the same. That uses the existing infernal robotics plugin. This WIP is a completely new plugin that is specifically used for arms that are already modeled as 1 part like the Lazor Robotic Arm pack.

[hieywiey]

Nope, not the same. That uses the existing infernal robotics plugin. This WIP is a completely new plugin that is specifically used for arms that are already modeled as 1 part like the Lazor Robotic Arm pack.

So will it have the same "grabby everything" mechanic, or will PDGPs be used? Also Lazor's magnet feature is pretty buggy and moving the arm spins the whole craft, so it would be nice to have a replacement for the Component Space Shuttle.

[sirkut]

So will it have the same "grabby everything" mechanic, or will PDGPs be used? Also Lazor's magnet feature is pretty buggy and moving the arm spins the whole craft, so it would be nice to have a replacement for the Component Space Shuttle.

It will function like the Lazor but the attachment system will be different (I hope). It's really the last thing that I need to finish before releasing a WIP package for everyone to try out.

[allmhuran]

I spent a very, VERY large amount of time figuring out how to make use of the IR parts in ways that don't cause wobbliness so that I could build my battlemech replicas. Like... a couple of hundred hours. I finally found a "solution", but it invovles a lot of part hackery (my mech arns and legs have to be extremely low mass, and physicsless, both of which cause problems of their own, but it's the price to pay in order to have stable torsos while walking).

I must say, I have only just come upon this thread by accident. It sounds like these joints provide complete rigidity and perfect transforms at the cost of not being able to surface attach to the joint part, and that moving the joint will not obey conservation of momentum.

Honestly, that would be perfect for mech-like constructions. If you ever decide to make one or two basic independent joint parts (akin to the IR basic rotatron and IR basic pivotron), and especially if you ever manage to integrate with KOS so that the servos can be commanded programatically, I can see myself making great use of them.

Edited March 31, 2016 by allmhuran