He created a robot and simulated injuries basically are is is a software that just tells you what the
robot can feel and see.
Okay.
What in real time we need a software that works with the real world and tell us about the environment
we are in and that software is gazebo rich that we are going to use for the next portion of our course.
This software is simply awesome because it simulates physical forces of this world, for example gravity,
mass inertia and collision.
While writing this, you IDF, you might have encountered the inertia and collision that I did not explain
anything about it.
Now I am going to tell you a lot, because if you don't fix the correct values, if you don't put correct
values of inertia and collision in your robot, you are going to see results like this.
In previous courses, I provided the values, but now I think I should teach you how you can calculate
inertia and collision values by your own self.
So you can see this robot right here is actually exploding with the wheels going in this direction and
body going in this direction.
Gas are going in this direction.
And you know what?
This was because of the wrong collision and inertial values.
That's how much important.
Yeah.
So first of all, we need to take a look what actually is inertia by the definition, the tendency of
an object to stay at rest or preserve its motion.
You can see at this point, when the car moved to this point, nothing fell from it.
But when the car or truck or dolly hit this brick and was unable to move any further, these objects
were these objects try to preserve their motion.
Okay.
Gravity, the black friction is there.
But still they acted on their inertia.
And because of that inertia, that body fell down after the break or below that they were like or no.
But the point here is inertia matters when a body is moving with the mass, okay, they are applied.
So in robotics they are very much important.
In simulation, they are the necessity.
These are certain things that might scare you.
These equations, inertial mattresses, which are very important.
The most important one and the most common one that I have seen is this solid cuboid inertial matrix.
These equations are actually applied to this mesh file as utilizing when we are creating by just simple
unity of tools like a sphere to circle, not the circle, but cylinder.
We applied these inertial values with these equations using the z growth and apply them and get the
appropriate inertial matrix for our meshes matrix for our links.
But in, in this case, we are not going to apply these equations.
We will be using MATLAB.
Now MATLAB is a very useful tool that we give only the mesh file.
It provides us the inertial matrix, but with the volume and we have to process a little bit and extract
the exact values for our robot.
So MATLAB is going to save our day by just giving us inertial matrices, and we don't have to apply
these, but I have to show you so you can apply these into your robot future.
Robots are the robots in which you are not using meshes.
Okay, we will talk into the mesh file and the final result after this destructed robot.
We are going to come at this point in which your model measures applied on each of the thing alpha,
robot, base, field and gusta.
And it will be working then fine.
It is not going to explode.
So let's take a look how we are going to use the mesh lab and proper find the inertial values.