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Caster wheel "drives" the robot instead of following it.

asked 2012-07-08 09:52:55 -0500

Capelare gravatar image

updated 2014-01-28 17:12:56 -0500

ngrennan gravatar image

Hi everyone:

You may be familiar with my robot and its problems by now... here comes a new one, yay!

I think that I'm going to let the problem self explain with a video. As you can see, on ~0:30 I turn the robot 90º and then, when I tell the robot to go straight forward again, the caster wheel oscillates instead of just following the main body of the robot, making the robot move more like a snake than a car.


Thanks a lot,

Update: I've noticed that if I add a lot of weight to the caster, the oscillation tends to stabilize, but I don't think that's a solution, because I'm increasing the weight of the caster wheel by 300 times its original weight (3g to 0.9kg). Any other ideas?

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answered 2012-07-16 01:16:43 -0500

Capelare gravatar image

Well, I managed to solve this problem by changing the <inertial> matrix to something smaller... but since I'm not familiar with this calculations, I'm not sure if this is a good idea.

Anyway, it seems to work pretty well now, so I'm not touching it anytime soon :)

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Asked: 2012-07-08 09:52:55 -0500

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Last updated: Jul 16 '12