Change in frame position due to Spheere to plane contact

Question

Pratap Shenoy 2019-7-14

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https://ww2.mathworks.cn/matlabcentral/answers/471670-change-in-frame-position-due-to-spheere-to-plane-contact

回答： Steve Miller 2021-6-15

Hello,

I am doing a multibody simulation of a three wheel robot and am trying to use the sphere to plane contact bolck (R18b_v4p1 library) to capture the tire and road contact. But as soon as I use this block, a shift in the wheel position is seen (the wheels hang in the air with a considerable distance above the ground before the simulation starts and bounce on the ground onve the play button is pressed). This lift in the wheels disappear when the contact is deleted. Can some someone please help me with this issue.

Thank you.

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Answer 1

Steve Miller 2021-6-15

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Hi Pratap,

I suspect your joint targets are not set for the orientation of the cart. I don't see a 6-DOF or Bushing Joint to set the initial position and orientation of the cart Specifying that you want the cart to be parallel to the ground would help ensure it starts where you want it to.

If you upload the model, we can take a look at it.

--Steve