Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Closed kinamtic chains can not be described by URDF. You have to 'open up' your structure and take care about the constraints using software code that provides the joint coordinates.

Gazebo supports closed chains through SDF:

http://answers.gazebosim.org/question/7308/parallel-robots-implementing-close-kinematic-chains/

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.