I am having a Mobile platform that support a robotic arm which I would like to control the motion!
I am meant to set up the motion ( speed/direction .. ) in order to establish at the end the autonomous navigation and path planning model.
The mobile platform consists of 4 Wheels, each have a revolute joint in Force/Torque Mode.
I have written a function that from the wanted mobile platform linear/rotational speed, I derive each of the required wheel joint angular velocities as shows my code:
Code: Select all
-- Mobile Platform Inits
Linear_Velocity = 1 -- Vm in m/s
Rotational_Velocity = 0 -- Wm in °/s
Wheels_Diameter = 0.12 -- d in m
Wheels_Distance = 0.546 -- Distance between one left and right wheel in m
Time_Of_Motion = 5 -- Movie the mobile for 5 seconds
Wr = (Vm + Wm*l/2)/d
Wl = (Vm - Wm*l/2)/d
simAddStatusbarMessage('Moving Robot ..')
simAddStatusbarMessage('Stopping robot ..')
simAddStatusbarMessage('IK Re activated again')
When I run the simulation, the mobile platform motion is inconsistent! the direction isn't linear even though the 4 wheels are spinning with the same angular velocities!
When I leave the simulation for 20 seconds, the mobile platform seems to follow a circular path instead of a linear path!
Anybody have an idea how to fix this problem? Is it about the thread execution time? After all, of course, it is clear that I want that the 4 wheels start spinning at the same time!
V Rep model:
Thanks for any kind of support!