Ensure that force sensor stays rigid
Posted: 17 Nov 2023, 10:33
I have a problem with a force sensor that acts as a wobbly spring joint, so I assume I do something wrong.
The scenario is a heavy manipulator moving around as a dynamic model. I want to get the forces and torques at the base, so I included a force sensor between the base and the first robot joint. The object chain looks like this:
Base model (static) -> Force sensor -> Disc plate(dynamic but minimal values) -> Joint0 -> ...
The problem I get is that the force sensor doesn't stay rigid, as I get a very noticeable wobble between the base and the disc object when the robot is moving. The force sensor doesn't seem broken, as the robot stays attached and even reduces the wobble after a while. I have also deactivated all threshold triggers for the force sensor. I also ensured that the objects don't touch each other, and have tried different physics engines. The behaviour stayed the same.
From the behaviour, the force sensor seems to act like a spring joint. However, I need it to be totally rigid.
What do I need to do ? Is there a sample scenario where a force sensor is used between joints ?
The scenario is a heavy manipulator moving around as a dynamic model. I want to get the forces and torques at the base, so I included a force sensor between the base and the first robot joint. The object chain looks like this:
Base model (static) -> Force sensor -> Disc plate(dynamic but minimal values) -> Joint0 -> ...
The problem I get is that the force sensor doesn't stay rigid, as I get a very noticeable wobble between the base and the disc object when the robot is moving. The force sensor doesn't seem broken, as the robot stays attached and even reduces the wobble after a while. I have also deactivated all threshold triggers for the force sensor. I also ensured that the objects don't touch each other, and have tried different physics engines. The behaviour stayed the same.
From the behaviour, the force sensor seems to act like a spring joint. However, I need it to be totally rigid.
What do I need to do ? Is there a sample scenario where a force sensor is used between joints ?