Specifying maximum payload for a manipulator

asked 2018-12-30 22:49:09 -0500

Pulkit123
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Hi I m using ROS Kinetic with Ubuntu 16.04. I have a 7-dof manipulator equipped with a gripper. However, I want to specify the maximum payload the robot can lift externally (basically I want to specify a limit on the payload that can be added). After any findings I found out that there is a way to get the maximum payload using KDL library but not to set it.

Does someone knows how to put a limit on the end effector externally?

Thanks

answered 2018-12-31 03:03:26 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2018-12-31 08:04:47 -0500

If you're asking whether there is support "somewhere" in ROS (which would be ambiguous, as it would be the responsibility of ROS components to require and/or do something with such information) to model the maximum payload of a manipulator, then the answer would be: no, there is no such support in any of the standard tools/nodes/configuration files.

That doesn't prevent you from setting a parameter that encodes that information though. And then use it in your own nodes.

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Thanks for the answer

Pulkit123 ( 2018-12-31 03:32:43 -0500 )edit

One of the reasons there is no such support is probably that the most used planners (historically ArmNav/MoveIt+OMPL) does not take dynamics into account. So something like "maximum payload" does not impact planning at all then.

gvdhoorn ( 2018-12-31 03:41:59 -0500 )edit

Could you please mark the question as answered by ticking the checkmark (✓) to the left of the answer if you feel it has been answered? Thanks.

gvdhoorn ( 2018-12-31 03:42:25 -0500 )edit

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