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URDF File - robot jumps and makes small leaps

asked 2019-04-17 12:57:29 -0600

hdd-robot

11 ●2 ●3 ●4 http://www.halim.info/

updated 2019-04-17 13:46:39 -0600

Hello, I want to create a robot with two driving wheels and two caster wheels. As shown in this image :

image description

I d’not know if it is well showen in the picture, the robot has two caster wheels (front and rear).

I have create the URDF file that describes the robot, unfortunately I have some small problems that I do not know how to fix them.

URDF file link : https://gist.github.com/hdd-robot/2d3...

The problem is that the robot jumps and makes small leaps, which makes the odometry imprecise and it is very unpleasant.

Thanks in advance.

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Please attach your images directly to the question. I've given you sufficient karma for that.

gvdhoorn ( 2019-04-17 13:00:35 -0600 )edit

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answered 2019-04-23 04:49:24 -0600

hdd-robot

11 ●2 ●3 ●4 http://www.halim.info/

So, the problem comes from the acceleration that is too much. I also create a separate links for front caster wheel and back caster wheel. Here new files : URDF file link

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Asked: 2019-04-17 12:57:29 -0600

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Last updated: Apr 23 '19

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URDF File - robot jumps and makes small leaps