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Robot model simular as crane using in Construction

asked 2018-09-11 23:06:40 -0500

Astronaut gravatar image


I would like to use Movelt for some collision detection/ obstacle detection (avoidance) to make trajectories in 3D. Fr my real scenario and application the robot is actually a construction crane (like 30-40m high). I would like to use some similar as possible robot model in Movelt. Is there some model in MatLab or any other Software that can be use it Movelt? The point is the robot should have some part that are not rigid like cable to hook the blocks and they can swing. Is there anything simular that I can find and import the configuration file in Movelt?


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As far as I'm aware MoveIt will not be able to control a 'robot' with flexible parts such as a crane's cable. The problem is very different to motion planning on a robot made of only rigid links. Someone with more experience of MoveIt will be able to confirm or correct this.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-09-12 03:49:29 -0500 )edit

Im not looking for control solution. Just for bit more real scenario. And do not have to bi Moveit. I just need a URDF or SRDF robot file that have bit flexible joint to do collision detection/obstacle avoidance in such environment. My goal is to do do collision detection/obstacle avoidance.

Astronaut gravatar image Astronaut  ( 2018-09-12 04:19:26 -0500 )edit

Note: SRFD is MoveIt specific. Perhaps you mean .sdf (ie: Gazebo)?

gvdhoorn gravatar image gvdhoorn  ( 2018-09-12 07:41:31 -0500 )edit

yes. gazebo is fine too . any help on that?

Astronaut gravatar image Astronaut  ( 2018-09-12 10:12:41 -0500 )edit

You don't understand me: you asked for a "URDF or SRDF robot file" but also wrote that "MoveIt is not a requirement". SRDF is MoveIt only. It's a common mistake for people to say SRDF when they really mean .sdf.

gvdhoorn gravatar image gvdhoorn  ( 2018-09-12 10:15:00 -0500 )edit

Because the simulation software is not important. Can be in gazebo in that case need sdf robot file and if it Moveit then srdf. Important is the robot configuration file. Is it more clear now? Sorry for mistake

Astronaut gravatar image Astronaut  ( 2018-09-12 19:32:15 -0500 )edit

this is getting both pedantic and off-topic, but: SRDF does not contain any kinematics or robot structure, only semantic data (ie: group definitions and other meta-data). So you'd be looking for a .urdf, .xacro or a .sdf.

gvdhoorn gravatar image gvdhoorn  ( 2018-09-13 01:27:53 -0500 )edit

ok. thanks. So any of .urdf, .xacro or a .sdf file similar to cable driven robotic arm like a crane? I know its not possible to have exactly same characteristic as a crane but at least something similar.

Astronaut gravatar image Astronaut  ( 2018-09-13 02:53:20 -0500 )edit

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answered 2018-09-13 04:22:39 -0500

I'm not aware of a existing construction crane model, but it would be possible to build a URDF model of one and perform collision checking on that one. As mentioned, there is no support for flexible parts, so these would have to be approximated by chaining multiple small rigid links after another with joints between them. Such an approach has for instance been used for the iRobot hand URDF used during the DRC, see here.

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Asked: 2018-09-11 23:06:40 -0500

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Last updated: Sep 13 '18