daichi's profile - activity

Hi there,

I have questions about force control of manipulator.
1. Which sensor is recommended to measure external force applied to fingertip,
force sensor, contact sensor or other one ?
2. How can I implement the recommended sensor ? Any good example or tutorial ?
3. Anybody who has done that before ?
Here, external force -> measured force between robot's fingertip and a rigid object like a table.

gazebo::physics::JointWrench seems to provide what I want, but it's placed at joint, not link.
Sensor which can be put on link is preferable.
Also, I know gazebo::physics::joint::GetForce provide joint torques.
However it's not what I want.

Thank you very much.

Hi there,

I have questions about force control of manipulator.
1. Which sensor is recommended to measure external force applied to fingertip,
force sensor, contact sensor or other one ?
2. How can I implement the recommended sensor ? Any good example or tutorial ?
3. Anybody who has done that before ?
Here, external force -> measured force between robot's fingertip and a rigid object like a table.

gazebo::physics::JointWrench seems to provide what I want, but it's placed at joint, not link.
Sensor which can be put on link is preferable.
Also, I know gazebo::physics::joint::GetForce provide joint torques.
However it's not what I want.

Thank you very much.

Hi, I'm trying to simulate Kuka youbot with gazebo.
I have a question about gazebo planar move plugin.
Since kuka youbot has mechanum wheels, it needs to use gazebo planar move plugin.
So I followed this instruction and added the plugin.

As a result, the mobile platform works fine, however the manipulator on the platform looks weird.
Manipulator falls down because of gravity, but the motion is very slow.
And each joint requires more torques to move than without the plugin.

Why planar move plugin affects robot motion in the above way ?
How can I avoid this situation ?

Thanks in advance.

Hi everyone.

I'm trying to use kuka youbot model. I got it from here.
However it seems that model.sdf has some wrong parameters.
Where is correct model.sdf ?

For example, some parameters, such as mass of arm_link_0, inertia of arm_link_1 and so on, are different from values provided by official youbot page.
Furthermore, it includes weird values. All joints' efforts and maximum velocities are zero, the positions of center of mass of arm_link mostly look wrong (Some of them are placed out of the object ...)...

Anyway, I want correct model.sdf file.
Where is correct model.sdf ?
If the model.sdf is correct, why do I have the above situation ? What is my misunderstanding ?

Thanks in advance.