not realistic simulation

asked 2019-07-08 04:04:06 -0500

pingu_user gravatar image

Hi I'm trying to simulate a self balancing robot. My problem is that the robot doesn't fall when is a lot tilted. for example if the robot starts from the position in the picture, I expect that it will fall maybe with the wheels that slip a little bit, instead in my case the controller it's able to bring it to the vertical postion. it's like the wheels are stucked into the ground, I've tried to give the mass and inertia realistic as much as possible. The robot is it tall 20 cm with cheap motors at 6v. I've also tried to emulate them adding some velocity limit tothe joints and damping(but i'm not sure about these values) the motors can reach a max speed of 210 rpm with no load and a stall torque of 2kgcm. Do you have any advice why the robots doesn't fall? Thanks to everyone

image description

https://youtu.be/HOQlRCeUS4I <robot name="self_balancing_ai"></robot>

  <material name="Blue">
    <color rgba="${255/255} ${108/255} ${10/255} 0.9"/>
  </material>

  <material name="White">
    <color rgba="${255/255} ${255/255} ${255/255} ${0.9}"/>
  </material>

  <material name="Black">
    <color rgba="${0/255} ${0/255} ${0/255} ${0.9}"/>
  </material>


  <link name="base_segway">
    <visual>
      <geometry>
        <box size="0.15 0.05 0.2"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.15 0.05 0.2"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.3"/>
      <inertia ixx="0.003125" ixy="0.0" ixz="0.0" iyy="0.002125" iyz="0.0" izz="0.00125"/>
    </inertial>
  </link>


  <link name="battery">
    <visual>
      <geometry>
        <box size="0.07 0.04 0.02"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="Green"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.07 0.04 0.02"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.003125" ixy="0.0" ixz="0.0" iyy="0.002125" iyz="0.0" izz="0.00125"/>
    </inertial>
  </link>

  <joint name="base_segway_battery" type="fixed">
    <parent link="base_segway"/>
    <child link="battery"/>
    <origin rpy="0 0 0" xyz="0 0 0.11"/>
  </joint>


  <link name="motor_l">
    <visual>
      <geometry>
        <cylinder radius="0.0125" length="0.07"/>
      </geometry>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <material name="Black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder radius="0.0125" length="0.07"/>
      </geometry>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.000" ixy="0.0" ixz="0.0" iyy="0.000" iyz="0.0" izz="0.00001848"/>
    </inertial>
  </link>

  <joint name="base_segway_motorl" type="fixed">
    <parent link="base_segway"/>
    <child link="motor_l"/>
    <origin rpy="0 0 0" xyz="0.035 0 -0.1"/>
  </joint>


  <link name="motor_r">
    <visual>
      <geometry>
        <cylinder radius="0.0125" length="0.07"/>
      </geometry>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <material ...
(more)
edit retag flag offensive close merge delete