ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Stewart Platform: how can i connect multiple joints to the same child link

asked 2019-01-24 14:35:52 -0500

Abdel gravatar image


I think my problem is similar to this post already posted in 2015 here is the link

I want to simulate a robot in Gazebo. This robot contains a kind of delta machine. It consists in :

• three cylinders,

• three conrods, linked with the pistons rods (tige_verin) on one side and with one plate (plate_camera_support) on the other side,

• a plate (plate_camera_support). My objective is to control the altitude and the orientation of the plate (plate_camera_support) around the X axis and Y axis.

image description

Here is the tf_tree of my URDF model. But unfortunately, I’m not able to introduce the last 2 joints of the model (in red on the picture below). Is the last answer still relevant? Is there a trick to face this « problem » ?

image description

PS: I’m working on Ubuntu 16.04 LTS and ROS Kinetic. Thanks in Advance

edit retag flag offensive close merge delete


lucasw gravatar image lucasw  ( 2019-01-24 18:23:17 -0500 )edit

1 Answer

Sort by » oldest newest most voted

answered 2019-01-25 02:54:41 -0500

gvdhoorn gravatar image

Unless this is a Gazebo question (in which case it should have been posted on and SDF can be used) the situation described in #q244903 and #q216101 hasn't changed. That means it's not possible to model such a platform in URDF (or at least: you cannot model the multiple-parent constraint).

The answer posted by @lucasw in #q244903 would seem to be a nice work-around.

edit flag offensive delete link more

Question Tools



Asked: 2019-01-24 14:35:52 -0500

Seen: 425 times

Last updated: Jan 25 '19