Calculating Effort Limit for Motoman MS210
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.
Reference
https://answers.ros.org/question/2754...
http://wiki.ros.org/pr2_controller_ma...
http://wiki.ros.org/urdf/XML/joint
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.It is not actually. And it gets even more complex when you realise most robots don't even have fixed limits.
Thanks gvdhoorn. I have submitted an issue at https://github.com/ros-industrial/mot...