Could you please tell me how can I add, additional prismatic joint to the end 6th joint in URDF file of an Universal robot as in the link below:
What do you mean by "end of an URDF file"?
The last two links (
ee_link) are connected by a
fixed joint. Change the joint type to
prismatic and then update the joint properties (joint axis and joint limits).
Or do you want to add an additional link to the manipulator i.e. add a new link after
ee_link? In that case, define a new link with a unique name, for eg.
new_link. Then, define a prismatic joint with parent as
ee_link and child as