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How to deal with discontinous (e.g. on-off) joint/actuator type in ROS/URDF?

asked 2015-10-23 04:06:43 -0500

Fulin gravatar image

Hello,

How to deal with discontinous (e.g. on-off) joint/actuator type in ROS/URDF?

Thanks

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How would this work/look? Do you mean that an actuator is available to be moved or not, but the movement is continuous or that an actuator is in either an on or off position.

dornhege gravatar image dornhege  ( 2015-10-23 04:16:49 -0500 )edit

The last two links of our robot arm are connected with revolute (continuous) joints. But the joints are driven by on/off actuators (hydraulic/pneumatic actuators). I want to include those joints in URDF for path planning. But I haven't figure out howto. May be I can try to do it in "transmisson"

Fulin gravatar image Fulin  ( 2015-10-23 09:36:23 -0500 )edit

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answered 2015-10-25 20:48:34 -0500

paulbovbel gravatar image

The joints would be modeled as revolute in URDF, just like any other joint. For pneumatic/hydraulic actuators, I believe you'd be dealing with an EffortInterface for your actuator ( http://wiki.ros.org/ros_control#Hardw... ), with the appropriate limits ( http://wiki.ros.org/ros_control#Joint... ).

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Thank you. It is helpful.

Fulin gravatar image Fulin  ( 2015-10-26 03:42:44 -0500 )edit

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Asked: 2015-10-23 04:06:43 -0500

Seen: 126 times

Last updated: Oct 25 '15