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Stuart platform

asked 2013-12-19 04:20:02 -0500

hojalot gravatar image

updated 2014-01-28 17:18:52 -0500

ngrennan gravatar image

Has there been any work to support 6DOF stuart gough platforms or similar parallel geometries?

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answered 2013-12-19 04:26:23 -0500

David Galdeano gravatar image
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This discussion was a few years ago, and I got the sense that at that time support for parallel mechanisms required workarounds. Have any of the proposed workaround been incorporated in to the base ros or are there any specific examples?

hojalot gravatar imagehojalot ( 2013-12-19 05:37:10 -0500 )edit

Kinematics loop crated in parallel robots contain physical constraints which must be solve at high rate, maybe ROS is not adapted for these constraints and cant separate the command algorithms and the motor control. You can write a small controller (IK) for the robot an take advantage of the ROS framework by using its own communication mechanisms.

David Galdeano gravatar imageDavid Galdeano ( 2013-12-19 11:25:03 -0500 )edit

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Asked: 2013-12-19 04:20:02 -0500

Seen: 122 times

Last updated: Dec 19 '13