Specify a joint with 2 motors

Hi, We are building a dexterous robotic hand, where the wrist has a 2N type actuation schemes, i.e. 2 motors for the 1 joint.

Is it possible to define this in the URDF description? I.e. how can I define two motors for 1 joint?

In practical terms the motors should mimic each other, so when 1 motor moves "X" in one direction the other motor should move "X" in the opposite direction. This is due to the joints being controlled with remote actuation, i.e. strings are attached to the joints.

Asked by volvo2 on 2022-10-09 13:34:24 UTC

Comments

Just a quick note: no, there is no support for "1 joint with 2 motors" in URDF. But realistically, there is no such concept as "a motor" in URDF anyway.

If you're thinking about using Gazebo to simulate your manipulator/hand, you'd want to use SDF. I don't know whether the setup you describe can be accurately modelled there. Last time I checked, mimic joints were not supported and required a (community supported) plugin (this one might be more up-to-date).

Asked by gvdhoorn on 2022-10-10 02:18:23 UTC