robot not moving straight

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ssj
Posts: 17
Joined: 27 Feb 2017, 15:40

robot not moving straight

Postby ssj » 12 Sep 2017, 05:59

hello
I am trying to develop a robot but unfortunately at start I got stuck. My robot does not move straight but turns left instead straight and turns right instead backward.
here is the scene https://drive.google.com/open?id=0B6Fmg ... nZla2dDTGM
please help.

Klaus
Posts: 15
Joined: 20 Nov 2013, 18:30

Re: robot not moving straight

Postby Klaus » 12 Sep 2017, 10:40

Hello,

The problem is with the wheels.
Your wheels are not of the same size, they are twisted and also not aligned.

If you fix these things it goes in a straight line.

Cheers

ssj
Posts: 17
Joined: 27 Feb 2017, 15:40

Re: robot not moving straight

Postby ssj » 12 Sep 2017, 12:24

hey Klaus
Thank you for pointing. I have adjusted the dimensions and increased the weights of the base. it now works fine and move straight. however I felt that when I increase the velocities of joints i.e., from 10m/s to 50m/s then there is a very very slight tilt towards left. Is it normal?

https://drive.google.com/open?id=0B6Fmg ... 0tvNTJsdnM

coppelia
Site Admin
Posts: 6066
Joined: 14 Dec 2012, 00:25

Re: robot not moving straight

Postby coppelia » 12 Sep 2017, 15:28

Hello,

I cannot observe the left-ish tilting. But your should somewhat increase a little bit the inertia of the wheels, which is too small.

Cheers


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