Dear forum:
I am controlling my two-wheeled robot to self-balance and run in a straight line.
But, though the same torque is applied to two joints, they gain different speeds and cannot run in a straight line.
what should I do to make it work?
Thanks
A two-wheeled robot cannot run in a straight line
Re: A two-wheeled robot cannot run in a straight line
Hello,
does the same thing happen with all physics engines?
To avoid this you can:
Cheers
does the same thing happen with all physics engines?
To avoid this you can:
- balance-out the masses and inertias in your robot. Carefully read design considerations 6-8 on this page
- maybe adjust the friction coefficient of the wheels and/or the floor
- use a smaller dynamics time step, and/or increase the iteration count for each dynamics step
Cheers