How to drive a parallel robot use ROS?

kinetic

asked 2019-07-24 05:35:14 -0600

zapple
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I'm developing a robot which has a parallel structure. As I know, urdf can't be used to describe it but the sdf format does. But I need to simulate the robot via Gazebo, I can just parse sdf file into Gazebo, but I can't control it via ROS. How solve this problem? Any solution to this?

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answered 2020-04-07 05:28:21 -0600

Riss69

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URDF doesn't support close kinematic chains but the functionality of the same can be increased via using gazebo tags because sdf does support it . For realising the same kindly refer to pr2's gripper urdf file they have already implemented close kinematic chains in it .

Basically you also have to define your own transmission and controller.

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answered 2019-07-25 12:55:02 -0600

duck-development

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does this may help?

https://www.youtube.com/watch?v=hglRG...

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Link-only answers should be discouraged as the content can (and quite often does) disappear. Can you update your answer with the relevant information so that the answer is self-contained?

jayess ( 2019-07-25 13:16:17 -0600 )edit

It seems useless for the question. The video just introduced how to make a close chain in Gazebo, but nothing about controlling the sdf model via ROS or any other programmable method.

zapple ( 2019-07-25 21:09:47 -0600 )edit

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answered 2021-06-03 03:07:44 -0600

ivan.fernandez.g@usach.cl
1

https://github.com/IvanFernandezGraci... Used stepper Motor checking trajectory dynamics