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I think my answer is a bit late, but I hope this can help someone else. It is not possible to change the torque value of an actuator in the URDF model of a robot, only the maximum value that it can support. If you created your robot and added the <transmission> element I want to assume that you have a folder called "config" where you store the yaml files (in case you used moveit support assistant the directory is created by itself), inside that folder look for the controllers and change the value of the proportional component of the PID controller associated with the motor of the board you want to modify.

If you know control theory and you have already modeled the motor of your real robot, you will be able to modify this value in a more adequate way, otherwise, gradually increase the magnitude of P until you find a value that works for you.

In fact, changing the value of the PID constants also helps to modify the speed and precision with which the robot moves, the larger the value of P, the greater the speed with which the links move.

Don't forget to include the <dynamics> element in the joints to add friction and damping, this will prevent your robot from falling over due to gravity.