Add Torque on the model, but the rotation was not excepted
Posted: 13 Apr 2020, 12:03
Hi,
I am testing an arm. When I used function to add torque on the arm, the rotation is not what I excepted. I tried rotating the model around x axis by and rotating the model around z axis by . It's all fine. But when I tried rotating it around y axis by , it failed. I tried troubleshooting the unexcepted behavior by checking the moment of inertia, which shown below. But I couldn't find useful infomation on it.
To find the problem, I simplify the model and it's here
https://drive.google.com/open?id=1GPwrm ... WuuTN2k3ra
the simulation result is like video below
https://youtu.be/td_OBNda7uE
I am testing an arm. When I used
Code: Select all
sim.addForceAndTorque
Code: Select all
sim.addForceAndTorque(servo_shoulder_right, {0, 0, 0}, {1, 0, 0})
Code: Select all
sim.addForceAndTorque(servo_shoulder_right, {0, 0, 0}, {0, 0, 1})
Code: Select all
sim.addForceAndTorque(servo_shoulder_right, {0, 0, 0}, {0, 1, 0})
Given any object with moment of inertia coupled in any two axes, it's rotation should be affected by each other equally on the coupled axes. However, the scene, that I am testing, seems not.0.0053074536845088 1.4479227274933e-06 4.3802359869005e-05
1.4479227274933e-06 0.0022340561263263 0.00022103909577709
4.3802359869005e-05 0.00022103909577709 0.018778828904033
To find the problem, I simplify the model and it's here
https://drive.google.com/open?id=1GPwrm ... WuuTN2k3ra
the simulation result is like video below
https://youtu.be/td_OBNda7uE