Home | Tutorials | Wiki | Issues
Ask Your Question
0

how to make stronger joints

asked 2019-10-08 00:37:53 -0600

PeterHer gravatar image

I add some code (inertial mass) to the robot example shown on the tutorial pages of Gazebo. But when I start simulation, the robot collapses. Any idea how tho make 'stronger' joints?

<sdf version="1.6"> <model name="my_robot"> <static>false</static>

    <link name='chassis'>
      <pose>0 0 .1 0 0 0</pose>

      <inertial>
        <mass>40.000000</mass>
      </inertial>

      <collision name='collision'>
        <geometry>
          <box>
            <size>.4 .2 .1</size>
          </box>
        </geometry>
      </collision>

      <visual name='visual'>
        <geometry>
          <box>
            <size>.4 .2 .1</size>
          </box>
        </geometry>
      </visual>

      <collision name='caster_collision'>
        <pose>-0.15 0 -0.05 0 0 0</pose>
        <geometry>
          <sphere>
          <radius>.05</radius>
        </sphere>
      </geometry>

      <surface>
        <friction>
          <ode>
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
        </friction>
      </surface>
    </collision>

    <visual name='caster_visual'>
      <pose>-0.15 0 -0.05 0 0 0</pose>
      <geometry>
        <sphere>
          <radius>.05</radius>
        </sphere>
      </geometry>
    </visual>
  </link>
  <link name="left_wheel">
    <pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>
    <collision name="collision">
      <geometry>
        <cylinder>
          <radius>.1</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <cylinder>
          <radius>.1</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </visual>
  </link>

  <link name="right_wheel">
    <pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>
    <collision name="collision">
      <geometry>
        <cylinder>
          <radius>.1</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <cylinder>
          <radius>.1</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </visual>
  </link>

  <joint type="revolute" name="left_wheel_hinge">
    <pose>0 0 -0.03 0 0 0</pose>
    <child>left_wheel</child>
    <parent>chassis</parent>
    <axis>
      <xyz>0 1 0</xyz>
    </axis>
  </joint>

  <joint type="revolute" name="right_wheel_hinge">
    <pose>0 0 0.03 0 0 0</pose>
    <child>right_wheel</child>
    <parent>chassis</parent>
    <axis>
      <xyz>0 1 0</xyz>
    </axis>
  </joint>

  </model>
</sdf>
edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted
1

answered 2019-10-08 07:27:21 -0600

kumpakri gravatar image

updated 2019-10-08 07:29:13 -0600

It is a matter of the joint controller, not the robot description itself. So either you need to modify the PID values or change the controller type (perhaps to JointPositionController?).

edit flag offensive delete link more
Login/Signup to Answer

Question Tools

1 follower

Stats

Asked: 2019-10-08 00:37:53 -0600

Seen: 34 times

Last updated: Oct 08