Simulate holding torque in a robot similar to Pr2 drive base

asked 2015-07-01 03:40:22 -0600

kaistis gravatar image

So we have a robot that has 4 steering and 4 drive motors almost the same as in Pr2, but the difference is that the steering axis or joint is not above the wheels but are on the side of it. So at first it couldn't even drive straight as the forces were too great I guess for controller to hold the steering joints in place. Changing to high p value in our controllers pid as in Pr2 example actually helped and now it can drive straight at lower velocities. The problem persists when robot has to make a turn or drive sideways. So is there any way to hold the steering joint in place when there is no velocity issued from controller?

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