The joint bends when spinning at high speed on wheels.

asked 2021-01-25 01:37:20 -0600

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Hello.

I used SDF to create the following skid steer robot.

Image from Gyazo

I am having a problem with the wheel axis tilting when the robot rotates at high speed in place. The following image shows the robot in the process of rotating on the spot (Torque of 0.001 or -0.001 is applied to each tire). After the rotation stops, the axis returns to parallel.

Image from Gyazo

I tried it with a two-wheeled robot, but the same problem occurs. I think there is a problem with the joint parameters, but I don't know how to fix it.

Here is the model.sdf.

Thank you!

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