Sliding model in a wheeled robot

asked 2019-06-18 15:57:57 -0600

fbellas gravatar image

Hi, I have created a model of a wheeled robot and it is working, but during the simulation it slides on the floor even with a zero speed. I have tried to change the values of the ODE friction coefficients without perceiving effective changes. Moreover, I performed different tests varying the different parameters of the sdf solver within ODE, without success. The values of the inertia tensor were calculated from meshlab, and I even performed different tests varying them without solving the problem.

Related with this problem, I would like to know if there is any way of fixing a joint position whenever the speed is zero

Any help would be appreciated

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Comments

Can you show us the code? A repository maybe? I remember having such problems but it always corrected when correcting all the physics parameters. I cannot remember any specific one that caused the trouble.

kumpakri gravatar imagekumpakri ( 2019-06-20 07:32:11 -0600 )edit