I actually fixed it already. Thank you for responding though. The wheels were acting strange because they were cylinders. I changed the physics shape to sphere and everything got much smoother.

Ok, so with the problem figured out I started over with a more detailed model. I have everything set up fine, everything works like it should I added some large hidden primitives that are set to ignore to stiffen up the caster wheel. That worked great. Now I just need some tips on how to make this simulation more accurate. The one hpnisse showed me worked great, it was very smooth. I know that one was scripted, I don't know much about scripting. I just have the left wheel's hinge set to joyLY and the right hinge set to joyRX as controllers.

Robot Design.skp

Oh, wow! Thanks so much for that. I didn't think the size would be an issue like it was. I just made the model to scale and figured it would work. Now I can really start planning and adjusting my design. Thank you, again!

Ok, I had a lot of stuff here, but I'm editing it out. I started from scratch, and now the cylinders I made are ALL acting as if they are static, but none of them are. I'll post the file if I can to show what I mean. I want the two front wheels to drive forward and backward, so that they will control turning as well as drive. The third wheel is just a free turning caster wheel. I can't seem to get this put together without something being permanently frozen in place.

Here it is without joints or groups, why are the cylinders static when simulated?