gazebo - revolute joint unresistant against outer forces [closed]

asked 2012-08-06 21:52:06 -0600

clotz gravatar image

updated 2012-08-06 22:05:46 -0600

Hallo, does anybody know how I can make a revolute joint resistant against outer forces? I'm trying to create a manipulator for my urdf Robot-Model. The controllable joint is working fine, but it's deflecting immediately after an outer force worked on it.

Edit: Tried it also with an effort of "5000" without any improvement.


<joint name="XYZ_disk_joint" type="revolute">
  <origin xyz=" 0.0 y.y  z.z" rpy="0.0 0.0 0.0"/>
  <parent link="XYZ_corpus" />
  <child link="XYZ_disk" />
  <axis xyz="0 1 0" />      
  <limit  lower="-1.5708" upper="1.5708" effort="10.0" velocity="3.0" />    
  <dynamics damping="1.0" friction="1.0"/> 

<transmission name="XYZ_revolute_controll" type="pr2_mechanism_model/SimpleTransmission" >
  <actuator name="XYZ_disk_motor" />
  <joint name="XYZ_disk_joint" />


  type: robot_mechanism_controllers/JointPositionController
  joint: XYZ_disk_joint
    p: 1.0
    i: 0.0
    d: 0.4
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Closed for the following reason question is off-topic or not relevant. Please see for more details. by tfoote
close date 2015-03-03 01:59:43.417161


Please ask gazebo questions at

tfoote gravatar image tfoote  ( 2015-03-03 01:59:33 -0600 )edit