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
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