Hi, I am trying to force the two hands move. I have created a second Create_Trajectory, KINARM_EP_Position_Controller and KINARM_EP_Apply_Loads blocks. But when I complied, it throws ‘Multiple Gotos found with tag named ‘KINARMEPScalingRobot1’
Am I in the wrong way. What am I supposed to do? Many thanks.
You only need to have one apply loads block. You will need to sum the outputs of your different position controller blocks and feed those sums into your single apply loads block.
All of the load blocks output a 4 element array. Depending on your robot these elements are either shoulder and elbow torques (Exo), or X,Y direction forces (EP). So for an EP the elements are X,Y Right robot, X,Y Left robot.