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How is it possible to vary joint stiffness of robot models dynamically?

asked 2020-06-18 00:50:12 -0600

AK gravatar image

updated 2020-06-18 01:42:25 -0600

I am trying to simulate a 7 dof robotic arm in which links are connected through tendons. In fact, in the Gazebo model, the links of the arm do not have any physical tendon like connectors. My plan to is to simulate effects of tendon on the robot by changing joint stiffness/damping parameters. I understood that joint stiffness/damping can be changed in SDF or URDF of the robot. This is a method of varying parameter statically. However, I want to change these properties dynamically while a gripping task is being carried out by the arm. To be more precise, if a joint angle between the links of the arm varies from zero to 90 degrees, stiffness should also be varied dynamically (proportional variation of stiffness with angle is also desirable). In other words, if the arm lies in a relaxed position stiffness should be less and if arm is stretched, the stiffness should be high. Does Gazebo simulation allow dynamic variation of stiffness properties? If yes, would anyone explain how? if no, kindly suggest alternative methods to achieve this?

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answered 2020-06-18 05:08:08 -0600

kumpakri gravatar image

Write a Gazebo model plugin that checks the angle of the joint and assigns the stiffness. (links are to the API of Gazebo-7, you tagged two different Gazebo versions so I cannot know which you actually use.)

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Asked: 2020-06-18 00:50:12 -0600

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Last updated: Jun 18 '20