Differential drive stutters by driving a circle

asked 2018-10-22 10:19:09 -0600

NRottmann
15 ●4 ●5 ●7

Hi,

I have a problem with my simulation of a differential drive robot. I try to let him drive in a circle by setting the velocity to

  // Configure joint motor
  this->jointLeft->SetParam("fmax", 0, torque);
  this->jointRight->SetParam("fmax", 0,torque);

  // Set velocities
  this->jointRight->SetParam("vel", 0, 3.5);
  this->jointLeft->SetParam("vel", 0, 5.0);

It starts to drive a circle, but not as tight as expected. Then it starts to stutter, turns heavier and then the whole procedure starts again. A video of this can be seen here: https://www.youtube.com/watch?v=m4xOm...

Hope someone has an idea.

Best

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Comments

The way it shakes up and down makes it look like the wheels are not smooth. Are you using primitive shapes for all 3 wheels? What's the physics engine? Is the caster wheel connected by a ball joint?

chapulina ( 2018-10-22 12:52:21 -0600 )edit

I use primitive cylinder shapes. The physic engine is ode and the caster wheel is part of the chassis. Best

NRottmann ( 2018-10-22 15:54:42 -0600 )edit

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<inertial> <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/> <mass value="0.5"/> <cylinder_inertia m="0.5" r="0.1075" h="0.03"/> <inertia ixx="0.00125" ixy="0.0" ixz="0.0" iyy="0.00125" iyz="0.0" izz="0.005"/> </inertial>

<inertial> <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/> <mass value="5"/> <cylinder_inertia m="5" r="0.1075" h="0.03"/> <inertia ixx="0.0125" ixy="0.0" ixz="0.0" iyy="0.0125" iyz="0.0" izz="0.05"/> </inertial>

Differential drive stutters by driving a circle

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