model accuracy of URDF files

asked 2019-07-19 07:11:34 -0500

stefvanlierop gravatar image

HI i am working on my full URDF description and i was wondering how usefull it is to measure my endeffector in micrometers. I work at a company that has precision measurement equipment available, but i do not know if for instance 10 micrometer accuracy can effectively be used by ROS with my UR10 robot. What specifications of my robot do i have to take into account to make a conclusion about this question?

edit retag flag offensive close merge delete

Comments

ROS and MoveIt have no limit of precision, it is down to the controllers used. However if you're using a UR10 it has a pose repeat-ability of 0.05mm, so if you're task requires it then you probably want to model your end effector to a similar precision. How precisely the EE will be mounted on the UR10 is also important here.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2019-07-19 07:42:17 -0500 )edit