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[Moveit]Howto make two joints always have identical position

asked 2017-04-16 16:05:04 -0500

Márton Miklós gravatar image

I have a robot arm where I have two revolute joints (one driven and one forced) which will always have the same position (angle in my case) due the mechanical constrains of my robot.

What is the best way to implement a Moveit configuration for this kind of situation?

My first idea was threat both joints as normal Joints, and send fake axis information for the forced one from my Robot controller. This solution should work, but the motion planned would have to do extra calculation for this joint too.

I am unsure if the virtual joints could be used for this purpose.

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answered 2017-04-17 05:02:32 -0500

v4hn gravatar image

The term you are looking for is mimic joint. You can specify such joints in your urdf.

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Thank you, this is exactly what I was looking for!

Márton Miklós gravatar image Márton Miklós  ( 2017-04-17 13:49:06 -0500 )edit

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Asked: 2017-04-16 16:05:04 -0500

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Last updated: Apr 17 '17