Modeling Stiction in Gazebo

asked 2014-05-28 10:53:19 -0500

jjames gravatar image

Is there a good way to model revolute joint stiction in Gazebo?

I've tried writing a plugin that just sets the torque and velocity to zero when the joint should be sticking, but Gazebo still calculates the other forces like gravity, so the joint ends up flopping around anyway. I also tried setting the stiffness and stiffness reference parameters, but it seems like it doesn't actually hold the joint in place at low stiffness (~1.0-100.0) and the joint oscillates or explodes at higher stiffness (~1000.0-100000.0), even with damping.

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Comments

you could deactivate the gravity on the link, or set the model to static?

AndreiHaidu gravatar imageAndreiHaidu ( 2014-05-29 06:15:05 -0500 )edit