At the moment i´m trying to simulate a 2D roll-picker.
To get the required linear movements of the axes, I implemented two Three Joint Couplers, which calculate these movements out of the positions given by the two rotary actuators.
The movement for the axes is calculated with no problem, but it would be nice to get the resulting, required forces at the rotary actuator.
It seems like the Three Joint Coupler is not capable of doning this.
I already tried to calculate the resulting force back to the rotary PositionControls, but these additional applied forces lead to undefined behaviour of the Speed Controller.
Thanks for your Ideas!