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URDF limits differential robot

asked 2015-02-18 11:51:17 -0500

End-Effector gravatar image

I'm creating a differential robot and for the wheels I'm using revolute joints. I don't understand the <limit> property I have to add. More specifically the lower and upper fields, the effort and velocity are somewhat understandable. Should I just go yolo and add this to my robot?

<limit effort="30" velocity="1.0" lower="-100" upper="100"/>

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answered 2015-02-18 11:56:55 -0500

revolute joints are rotating joints with limits. You'll want to use a continuous joint, which is a rotating joint without limits (i.e. allowing continuous rotation). See also URDF joint wiki

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Asked: 2015-02-18 11:51:17 -0500

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Last updated: Feb 18 '15