How to drive a parallel robot use ROS?

I'm developing a robot which has a parallel structure. As I know, urdf can't be used to describe it but the sdf format does. But I need to simulate the robot via Gazebo, I can just parse sdf file into Gazebo, but I can't control it via ROS. How solve this problem? Any solution to this?

Asked by zapple on 2019-07-24 05:35:14 UTC

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Answers

does this may help?

https://www.youtube.com/watch?v=hglRGiNHRno

Asked by duck-development on 2019-07-25 12:55:02 UTC

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Link-only answers should be discouraged as the content can (and quite often does) disappear. Can you update your answer with the relevant information so that the answer is self-contained?

Asked by jayess on 2019-07-25 13:16:17 UTC

It seems useless for the question. The video just introduced how to make a close chain in Gazebo, but nothing about controlling the sdf model via ROS or any other programmable method.

Asked by zapple on 2019-07-25 21:09:47 UTC

URDF doesn't support close kinematic chains but the functionality of the same can be increased via using gazebo tags because sdf does support it . For realising the same kindly refer to pr2's gripper urdf file they have already implemented close kinematic chains in it .

Basically you also have to define your own transmission and controller.

Asked by Riss69 on 2020-04-07 05:28:21 UTC

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https://github.com/IvanFernandezGracia/delta_robot_tesis Used stepper Motor checking trajectory dynamics

Asked by ivan.fernandez.g@usach.cl on 2021-06-03 03:07:44 UTC