Ask Your Question
1

What is the meaning of the effort or velocity on urdf model

asked 2017-11-09 06:34:40 -0600

Mekateng gravatar image

What is the meaning of these ? (<limit effort="3" velocity="1.178465545" lower="0.0" upper="3.14"/>) on the urdf model. ı changed limit effort or velocity but nothing changed

edit retag flag offensive close merge delete

2 Answers

Sort by » oldest newest most voted
0

answered 2017-11-09 07:17:57 -0600

Airuno2L gravatar image

updated 2017-11-09 12:42:50 -0600

Those are documented here, I'll copy pasta though:

lower (optional, defaults to 0) - An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.

upper (optional, defaults to 0) - An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.

effort (required) - An attribute for enforcing the maximum joint effort (|applied effort| < |effort|). See safety limits.

velocity (required) - An attribute for enforcing the maximum joint velocity. See safety limits.

Effort is between 0 and 100 (units are %) and velocity is radians per second for revolute and continuous joints and meters per second for linear or prismatic joints.

edit flag offensive delete link more

Comments

Effort is between 0 and 100 (units are %) and velocity is meters per second.

I'm not sure this is correct: fi velocity is in rad/s for all revolute and continuous joints, while it's m/s for linear type joints.

gvdhoorn gravatar imagegvdhoorn ( 2017-11-09 07:57:46 -0600 )edit

You're right, I corrected it. Thanks.

Airuno2L gravatar imageAiruno2L ( 2017-11-09 12:43:08 -0600 )edit

Effort is between 0 and 100 (units are %)

I'm not sure if the effort unit is correct either. Isn't it in N? And I'm pretty sure it's not limited to 100.

Sidd gravatar imageSidd ( 2019-11-06 12:31:29 -0600 )edit
0

answered 2017-11-09 06:46:04 -0600

bpinaya gravatar image

I am quite sure it is the limit in velocity you can give to a joint. If you change it to be really high, then you'll be able to give higher velocities to your joint.

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

2 followers

Stats

Asked: 2017-11-09 06:34:40 -0600

Seen: 1,643 times

Last updated: Nov 09 '17