Configuring ROS urdf to a dependent joint

asked 2022-11-02 05:30:42 -0600

nipunika gravatar image


Currently I am developing 4 dof robotic arm using ROS noetic. The design of the arm is given in the link below.

The motor which controls the joint 02 is attached in the base and it is controlled using a belt as shown in the diagram. But the problem is that when I move the joint 01, the link attached to the joint 02 also moves because of the belt connection. So how can I configure the urdf to a situation like this?

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