How can improve cable simulation stability?
Hi
I'm trying to simulate a cable using small cylinders connected by universal joints. The problem is that when the rope is made of more than 50 links, the model become too unstable and starts to do small spasms or it simply explodes.
What would be possible ways to improve stability in this scenario?
Preferably the simulation should run in real time, so lower simulation step wouldn't be a good solution.
Is there a better engine for this kind of simulation? I'm currently using ODE engine as I was having a problem to attach the rope to other models using Bullet engine.
thanks
Eduardo Rizzo de Albuquerque
Asked by Eduardo Albuquerque on 2015-02-23 13:04:29 UTC
Comments
did you try extending this model? https://bitbucket.org/osrf/gazebo_models/src/de9abaab0588d76bc0e940dbdf0078b4bfe7b78a/fire_hose_long/?at=default
Asked by hsu on 2015-02-24 15:46:37 UTC
I didn't exteded this model but i'm doing the same thing: small cylinders with universal joints. The parameters (damping, mass, size) are nearly the same. The only difference i can note is that, in my case, some cylinders are 50% longer than others, so I can improve performance. When the rope gets really big (more than 50 links) it shows strange behaviours. Lowering simulation step improved stability, but I can't stand having a Real Time Rate lower than ~0.8.
Asked by Eduardo Albuquerque on 2015-02-24 16:38:21 UTC
How can I insert this model into my gazebo world?
Asked by Abdullah on 2016-11-01 08:27:06 UTC