1 00:00:01,040 --> 00:00:09,140 He created a robot and simulated injuries basically are is is a software that just tells you what the 2 00:00:09,140 --> 00:00:11,690 robot can feel and see. 3 00:00:12,140 --> 00:00:12,490 Okay. 4 00:00:13,280 --> 00:00:21,170 What in real time we need a software that works with the real world and tell us about the environment 5 00:00:21,170 --> 00:00:27,460 we are in and that software is gazebo rich that we are going to use for the next portion of our course. 6 00:00:28,400 --> 00:00:37,550 This software is simply awesome because it simulates physical forces of this world, for example gravity, 7 00:00:38,120 --> 00:00:40,880 mass inertia and collision. 8 00:00:41,750 --> 00:00:47,570 While writing this, you IDF, you might have encountered the inertia and collision that I did not explain 9 00:00:47,570 --> 00:00:48,740 anything about it. 10 00:00:49,250 --> 00:00:59,090 Now I am going to tell you a lot, because if you don't fix the correct values, if you don't put correct 11 00:00:59,090 --> 00:01:05,390 values of inertia and collision in your robot, you are going to see results like this. 12 00:01:06,570 --> 00:01:11,760 In previous courses, I provided the values, but now I think I should teach you how you can calculate 13 00:01:11,940 --> 00:01:14,100 inertia and collision values by your own self. 14 00:01:14,110 --> 00:01:24,930 So you can see this robot right here is actually exploding with the wheels going in this direction and 15 00:01:24,930 --> 00:01:26,400 body going in this direction. 16 00:01:26,400 --> 00:01:27,870 Gas are going in this direction. 17 00:01:28,110 --> 00:01:28,740 And you know what? 18 00:01:28,740 --> 00:01:32,280 This was because of the wrong collision and inertial values. 19 00:01:32,280 --> 00:01:33,570 That's how much important. 20 00:01:33,570 --> 00:01:33,840 Yeah. 21 00:01:34,200 --> 00:01:41,100 So first of all, we need to take a look what actually is inertia by the definition, the tendency of 22 00:01:41,100 --> 00:01:43,620 an object to stay at rest or preserve its motion. 23 00:01:43,890 --> 00:01:49,440 You can see at this point, when the car moved to this point, nothing fell from it. 24 00:01:49,800 --> 00:01:57,480 But when the car or truck or dolly hit this brick and was unable to move any further, these objects 25 00:01:58,200 --> 00:02:03,060 were these objects try to preserve their motion. 26 00:02:04,740 --> 00:02:05,100 Okay. 27 00:02:05,100 --> 00:02:06,660 Gravity, the black friction is there. 28 00:02:06,780 --> 00:02:10,200 But still they acted on their inertia. 29 00:02:10,740 --> 00:02:18,480 And because of that inertia, that body fell down after the break or below that they were like or no. 30 00:02:18,810 --> 00:02:25,620 But the point here is inertia matters when a body is moving with the mass, okay, they are applied. 31 00:02:25,620 --> 00:02:29,160 So in robotics they are very much important. 32 00:02:29,160 --> 00:02:32,130 In simulation, they are the necessity. 33 00:02:33,030 --> 00:02:35,730 These are certain things that might scare you. 34 00:02:35,940 --> 00:02:39,540 These equations, inertial mattresses, which are very important. 35 00:02:39,540 --> 00:02:46,020 The most important one and the most common one that I have seen is this solid cuboid inertial matrix. 36 00:02:46,710 --> 00:02:56,520 These equations are actually applied to this mesh file as utilizing when we are creating by just simple 37 00:02:56,530 --> 00:03:04,710 unity of tools like a sphere to circle, not the circle, but cylinder. 38 00:03:05,010 --> 00:03:12,480 We applied these inertial values with these equations using the z growth and apply them and get the 39 00:03:12,480 --> 00:03:18,270 appropriate inertial matrix for our meshes matrix for our links. 40 00:03:18,870 --> 00:03:23,340 But in, in this case, we are not going to apply these equations. 41 00:03:23,700 --> 00:03:26,160 We will be using MATLAB. 42 00:03:26,700 --> 00:03:31,920 Now MATLAB is a very useful tool that we give only the mesh file. 43 00:03:31,920 --> 00:03:38,640 It provides us the inertial matrix, but with the volume and we have to process a little bit and extract 44 00:03:38,640 --> 00:03:40,740 the exact values for our robot. 45 00:03:41,070 --> 00:03:47,910 So MATLAB is going to save our day by just giving us inertial matrices, and we don't have to apply 46 00:03:47,910 --> 00:03:52,110 these, but I have to show you so you can apply these into your robot future. 47 00:03:52,110 --> 00:03:56,220 Robots are the robots in which you are not using meshes. 48 00:03:56,220 --> 00:04:02,670 Okay, we will talk into the mesh file and the final result after this destructed robot. 49 00:04:02,670 --> 00:04:08,430 We are going to come at this point in which your model measures applied on each of the thing alpha, 50 00:04:08,440 --> 00:04:10,350 robot, base, field and gusta. 51 00:04:10,650 --> 00:04:12,870 And it will be working then fine. 52 00:04:13,110 --> 00:04:14,670 It is not going to explode. 53 00:04:14,820 --> 00:04:20,820 So let's take a look how we are going to use the mesh lab and proper find the inertial values.