Moveit with differential gear wrist

asked 2023-02-22 06:50:30 -0500

Maven Cheong gravatar image

Hi, I have a 6dof robot arm the 5 and 6 joint eventually control by two stepper motor. so if the motors spin in the same direction, it will perform a pitch movement and if two spin in different direction it will perform yaw movement.

I'm currently struggling how to put this mechanism into URDF and then wanted to use it with MoveIt.

I'm wondering how MoveIt able to recognize this kind of movement?

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