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Any Examples of URDF/MoveIt for Parallel Robots?

asked 2015-09-11 11:57:24 -0600

I'm working on providing MoveIt support for a parallel (Delta-style) robot. Are there any examples of current parallel-mechanism robots that are being used with ROS?

I have seen discussions from 2011 and 2013, but no links to actual code.

I understand that we'll need to "cheat" a little in representing the robot in URDF, and provide our own FK/IK routines. I think I've got a good handle on the required steps, but it would be helpful to review any other example implementations, if available.

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Are you intending to do the low level control of the delta with ros as well? Or just plan in Cartesian space for the eef?

gvdhoorn gravatar image gvdhoorn  ( 2015-09-11 13:47:37 -0600 )edit

Hi, do you have any updates on this?

danish-answers gravatar image danish-answers  ( 2017-01-19 09:11:58 -0600 )edit

great, I have been looking into the ragnar. Can you give me a hint what was the hack you made? i understand that URDF does not support parallel robot.

danish-answers gravatar image danish-answers  ( 2017-01-19 10:29:14 -0600 )edit

The URDF is created with all floating joints. The tool plate is defined relative to base_link (a hack). The robot publishes 4 driven joint positions. A custom state_publisher node performs kinematics to compute the positions of all 8 links and the tool plate, and publishes the resulting transform

Jeremy Zoss gravatar image Jeremy Zoss  ( 2017-01-19 13:31:22 -0600 )edit

thank you very much. tat was helpful

danish-answers gravatar image danish-answers  ( 2017-01-20 09:35:41 -0600 )edit

I have a further question. Is MoveIt Integration available for Ragnar?

danish-answers gravatar image danish-answers  ( 2017-01-20 09:54:56 -0600 )edit

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answered 2017-01-19 10:06:35 -0600

We've actually completed this work, and published the ROS package for the delta-style Ragnar robot back in December 2015.

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The package has been deleted / is not accessible anymore. Any reason?

ipa-hsd gravatar image ipa-hsd  ( 2022-10-19 02:35:43 -0600 )edit

Comments under questions of 5 years ago with accepted answers don't have great visibility.

re: any reason: you'd have to ask Blue Workforce.

There are some forks of the package available though, see Jmeyer1292/ROSRagnarEDU/network/members fi.

gvdhoorn gravatar image gvdhoorn  ( 2022-10-19 04:18:20 -0600 )edit

For what it's worth: Blue Workforce, the manufacturers of the Ragnar robot and owner of its driver repository declared bankrupcy and [were acquired by OnRobot]( in 2019. So perhaps you'd have more luck reaching out to OnRobot about this repository.

Jeremy Zoss gravatar image Jeremy Zoss  ( 2022-10-19 09:29:17 -0600 )edit

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Asked: 2015-09-11 11:57:24 -0600

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Last updated: Sep 11 '15