Weird bouncing issue

[peterv]

Hi,

I am trying to simulate a custom robot with a spindle wich I imported in Coppeliasim. The simulation is mostly working, but I am seeing some weird dynamic effects/bouncing of the spindle when simulating. I managed to resolve most of it by optimizing mass and intertia.

However, the bouncing is still present on some instances of the robot (which are identical to not-bouncing instances). I did review the design considerations page located here: [https://manual.coppeliarobotics.com/en ... tions.htm].

Does my problem have something to do with the joint-link between the revolute joint axis_3_motor and prismatic joint axis_4_motor? I'm not sure if I implemented this correctly. Should I maybe do something with the assembly operation instead?

My simulation file can be found here: https://www.dropbox.com/scl/fi/lf28yypx ... 8zsat&dl=0

Thanks in advance for any advice or guidance!

[coppelia]

Hello,

I would recommend you to switch to another physics engine, e.g. if you use Mujoco, then rhings appear to be very stable.
Otherwise, scale the inertia of objects joint_link up by a factor 10. Then you will also get a much more stable situation.

Cheers

[peterv]

Hi Coppelia,

Switching to MuJoCo did indeed make the situation more stable, thanks!

Cheers