Gazebo | Ignition | Community
Ask Your Question

Child link of a joint not following parent's movement.

asked 2013-07-17 04:50:44 -0600

Throst Gunnulf gravatar image

updated 2013-07-17 04:52:28 -0600

Hey, I'm modelling a robot that mimics a human head, which means I have some joints that rotate in the same axis. To make an analogy with the human head, I have a joint that allows the neck to rotate and two joints to allow the eyes to rotate (all of these joints rotate only in the Z axis).

The problem I have is that when I rotate the neck, the eyes mantain their absolute angle, and not the angle relative to its parent link. Also, whenever I rotate one eye, the neck starts rotating in the opposite direction. The relevant parts of the model are in this pastebin (I couldn't get the formatting right, sorry).

Is there any way I can correct this behaviour without having to do so with a plugin? If you need any information I forgot, please don't hesitate to ask. Thanks in advance!

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2013-07-23 20:42:19 -0600

iche033 gravatar image

You may need to tune the inertial properties of the neck and the eyes to get them to rotate correctly.

edit flag offensive delete link more
Login/Signup to Answer

Question Tools


Asked: 2013-07-17 04:50:44 -0600

Seen: 819 times

Last updated: Jul 23 '13