ROS Resources: Documentation | Support | Discussion Forum | Service Status | Q&A answers.ros.org
Ask Your Question
4

Any Examples of URDF/MoveIt for Parallel Robots?

asked 2015-09-11 11:57:24 -0500

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.

edit retag flag offensive close merge delete

Comments

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 imagegvdhoorn ( 2015-09-11 13:47:37 -0500 )edit

Hi, do you have any updates on this?

danish-answers gravatar imagedanish-answers ( 2017-01-19 09:11:58 -0500 )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 imagedanish-answers ( 2017-01-19 10:29:14 -0500 )edit
1

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 imageJeremy Zoss ( 2017-01-19 13:31:22 -0500 )edit

thank you very much. tat was helpful

danish-answers gravatar imagedanish-answers ( 2017-01-20 09:35:41 -0500 )edit

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

danish-answers gravatar imagedanish-answers ( 2017-01-20 09:54:56 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
2

answered 2017-01-19 10:06:35 -0500

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

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

4 followers

Stats

Asked: 2015-09-11 11:57:24 -0500

Seen: 1,358 times

Last updated: Sep 11 '15