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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
11 ●5 ●7 ●7

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 ( 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 ( 2015-10-23 09:36:23 -0500 )edit

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

4518 ●12 ●49 ●80 http://www.bovbel.com/

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

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

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Last updated: Oct 25 '15

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