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Calculating Effort Limit for Motoman MS210

asked 2020-10-15 21:12:51 -0600

acbuynak gravatar image

Working to build a ros-industrial robot support package for the Motoman MS210.

Q: Need help understanding & calculating the effort limits in a URDF joint.

The motoman website provides values for each joint's max range, speed, allowable moment (joints rbt), allowable moment of intertia (joints rbt). From this I defined, joint limits and velocity limits.

I recognize this is probably simple, but I haven't found an explanation I understand on ROS wiki, ROS answers, ROS-i discourse, or github issues.


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You cannot do this yourself, as you'd need information on motor dynamics and other parameters which are not publicly available.

I'd recommend you open an issue on the ros-industrial/motomanissue tracker and see whether Motoman themselves are willing to help out.

I recognize this is probably simple

It is not actually. And it gets even more complex when you realise most robots don't even have fixed limits.

gvdhoorn gravatar image gvdhoorn  ( 2020-10-16 03:14:25 -0600 )edit

Thanks gvdhoorn. I have submitted an issue at

acbuynak gravatar image acbuynak  ( 2020-10-16 09:23:37 -0600 )edit

1 Answer

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answered 2020-10-24 15:55:18 -0600

acbuynak gravatar image

updated 2020-10-24 15:56:02 -0600

Resolved through help of Motoman rep in providing values specific to Motoman MS210.
See github:ros-industrial/motoman/issue/363

Calculating the effort limits for a URDF joint is unique to each robot. If your robot is manufactured, suggest contacting manufacturer to obtain values.

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Asked: 2020-10-15 21:12:51 -0600

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Last updated: Oct 24 '20