little 3 wheels car
Posted: 20 Jun 2018, 14:45
Hi to all,
I am build a 3 wheel car model following Hackerman library model:
- chassis -3 prismatic joint - 3hubs - 3 revolute joints and 3 wheels.
Simulating, my model runs but there is a little background noise on the wheels that do a very liffle drift on all the model, in others words the model moves very slowly. Instead the Hackermann model is perfectly stop. In fact measuring the forces on the wheels in each of the model, it reveals that in the Hackermann model the behaviour of the forces is as a damped sinusoid that go asintodically to zero instead in my model the forces have a damped sinusoidal trend but at the end there is permanent noise from which the drift depends.
Any suggestion is welcome
thanks
I am build a 3 wheel car model following Hackerman library model:
- chassis -3 prismatic joint - 3hubs - 3 revolute joints and 3 wheels.
Simulating, my model runs but there is a little background noise on the wheels that do a very liffle drift on all the model, in others words the model moves very slowly. Instead the Hackermann model is perfectly stop. In fact measuring the forces on the wheels in each of the model, it reveals that in the Hackermann model the behaviour of the forces is as a damped sinusoid that go asintodically to zero instead in my model the forces have a damped sinusoidal trend but at the end there is permanent noise from which the drift depends.
Any suggestion is welcome
thanks