model accuracy of URDF files

asked 2019-07-19 07:11:34 -0600

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?

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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 image PeteBlackerThe3rd  ( 2019-07-19 07:42:17 -0600 )edit