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robot not moving straight

Posted: 12 Sep 2017, 05:59
by ssj
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.

Re: robot not moving straight

Posted: 12 Sep 2017, 10:40
by Klaus
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

Re: robot not moving straight

Posted: 12 Sep 2017, 12:24
by ssj
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

Re: robot not moving straight

Posted: 12 Sep 2017, 15:28
by coppelia
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