Do joints obey 0 gravity rules?

asked 2019-05-28 06:00:44 -0500

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Greetings to all the community,

(New to gazebo) I have been working in this framework for a few weeks trying to simulate the dynamics of a CMG (control moment gyro) in a 0 gravity environment.

Basically, the body does not have any forces applied to it and floats (so far so good). However, when I apply a torque to the outer gimbal joint (revolute joint that connects the base with the gymbal), the system starts an oscillating motion.

This oscillating motion is characteristic of a pendulum motion in the presence of a gravitational field hence my question.

Torque applied to outer gymbal

I would like to understand if this is suppose to happen, and if so, what can I do in order to overcome this issue and simulate a correct behavior.

PS: I am willing to provide the code if necessary. Did not do it because it would extend my post.

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