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Using a joint with motor on other than parent link thru Transmission

I have made a custom robot arm and I'm making an URDF file for that. situation:

  • lower arm, mounted on base
  • upper arm mounted on lower arm
  • motor for lower arm mounted on base
  • motor and upper arm connected via belt.

I've searched in the tutorials on URDF and "transmissions" came up. http://wiki.ros.org/urdf/XML/Transmission

Are there some examples or best practices on how to set up this situation in the URDF model so I can have correct behaviour in Moveit etc?

edit: With correct behaviour I mean generated trajectories that match the situation

Thanks in advance, Bas

Using a joint with motor on other than parent link thru Transmission

I have made a custom robot arm and I'm making an URDF file for that. situation:

  • lower arm, mounted on base
  • upper arm mounted on lower arm
  • motor for lower upper arm mounted on base base
  • motor and upper arm connected via belt.

I've searched in the tutorials on URDF and "transmissions" came up. http://wiki.ros.org/urdf/XML/Transmission

Are there some examples or best practices on how to set up this situation in the URDF model so I can have correct behaviour in Moveit etc?

edit: With correct behaviour I mean generated trajectories that match the situation

Thanks in advance, Bas