How do I change the end effector to an attached object?

asked 2013-12-02 04:37:20 -0500

Clint_P gravatar image

updated 2014-01-28 17:18:42 -0500

ngrennan gravatar image


I'm currently working with a Motoman Sia5 robot arm. I can pick something up with the arm just fine. What I would like to do is pick up a bowl and have the bowl rotate about an axis relative to itself. I was thinking the best way to go about this would be to change the robot within ROS to include the bowl as a link (essentially add it to the urdf) and change the end effector to the bowl once the robot grabbed the bowl.

How would I do this?

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I'm not very clear about what you want; do't you want to rotate the hand/gripper so that the bowl rotates? Do you want to have only the bowl rotate instead?

130s gravatar image 130s  ( 2015-04-02 17:49:44 -0500 )edit