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Questions tagged [robot-model]

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How to have a child link with two parent links for URDF

As the title states, there is a link on my robot that is connected to two different parent links in seperate places. I don't know how to do this as it says that every single link must be unique. Is ...
John Miller's user avatar
1 vote
0 answers
33 views

Alternative Landmark Observation Model for Fast SLAM using 3D Point Clouds

I am in the process of implementing a Fast-SLAM Algorithm as it is described in Chapter 13 of Probabilistic Robotics by Thrun, Burgard and Fox or this publication by Thrun, Koller and Wegbreit however,...
Roman Stadlhuber's user avatar
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1 answer
90 views

Steering wheel angle control

I am working on an autonomous vehicle's control, specifically the steering angle control. Knowing that I used kinematic bicycle model, my questions are: How do I choose the actuator for my steering ...
Asmaa GZ's user avatar
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1 answer
57 views

Define system forward dynamics with sympy

I would like to model the dynamics of a robot via the usual discretized system of equations $$ x_{k+1} = f(x_k, u_k) \qquad x\in\mathbb{R}^{n_x}, \quad f:\mathbb{R}^{n_x}\times\mathbb{R}^{n_u} \to \...
SystemSigma_'s user avatar
1 vote
0 answers
54 views

Ideas on how to create kinematic model of skid-steered rocker bogie mobile robot

I'm trying to derive the inverse kinematics of a skid-steered mobile robot with rocker-bogie mechanism. I learned how to derive the kinematics via transformation matrices as per "Kinematic ...
user3784054's user avatar
2 votes
1 answer
101 views

Modelling/Theory for Quadraped Robot Leg Example

I have been working on attempting to replicate the following robot developed by some MIT graduates. https://dspace.mit.edu/handle/1721.1/98948 Presently, I am trying to work out the model for a single ...
Jack Frye's user avatar
  • 121
2 votes
1 answer
515 views

URDF for a real robot

I have been making robots in ROS/Gazebo simulation before, which makes use of the URDF to understand the robot model, different frames and transformations. For a real robot, do I need a URDF as well? ...
robo1996's user avatar
0 votes
1 answer
665 views

DH Parameters of a 2 DOF RP Robot

How can I determine the DH parameters of the robot shown in the figure ? As i know, the z axis should show the rotation axis for rotary joints and direction of extension for prismatic joints, so the ...
Berkay Taskin's user avatar
1 vote
1 answer
423 views

Peter Corke Robotics Matlab Toolbox the problem of inverse dynamics in the Franka Emika Panda model

I have the following question about the Franka Emika Panda dynamic model. In case I perform the solution of the inverse dynamics problem using Robotics Toolbox (Peter Corke) I get different results ...
Daniel Kajzr's user avatar
0 votes
1 answer
65 views

Choose the structure of the dynamic model for the generalized equations of motion of the robot

I ask the robotics specialists for help as I am a little confused. I have two subsystems which are shown in the picture below: One of them is a system of stable and controlled differential equations ...
dtn's user avatar
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2 answers
110 views

Generate robot model for openrave

Is there another way to generate a collada model to work with openrave other than converting an URDF file with ROS' collada_urdf software? The problem I'm encountering is with the setup needed to use ...
powerbling's user avatar
1 vote
1 answer
285 views

4 Axis Gimbal Nodal Robot DH Parameters

I'm working on a robot gimbal where there are 4 revolute joints (4th axis for gimbal lock, reducing inertia etc). The robot is nodal such that all axes have the same nodal point and rotating any axes ...
Joe Jankowiak's user avatar
3 votes
1 answer
393 views

DC motor modelling with Bond Graph

I am trying to construct an equation that describes the output torque as a function of lambda and omega I have obtained the following bond graph but I am unsure of how to proceed.
Simba N's user avatar
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1 vote
2 answers
180 views

Equations of motion in matrix form and energy consumption

I am working on Lagrangian derived high-dimensional motion equations for a robot in matrix form. The structure of such an equation is known: $M(q)\ddot{q}+C(q,\dot{q})\dot{q}+G(q)=0$ In here, $M(q)$, $...
dtn's user avatar
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0 answers
70 views

Spherical Parallel Manipulator Lagrangian problem

I faced a very serious problem and I urgently need the help of specialists in robotics, mechanics, physics and mathematics. I am trying to derive equations of motion from the Lagrangian of a spherical ...
dtn's user avatar
  • 183
1 vote
1 answer
2k views

Denavit-hartenberg parameters sign 6-DOF

Trying to understand how does the Denavit-Hartenberg work. While I understood how is the table constructed, I however don't understand how are the signs for the orientation parameters (theta, joint ...
user50703's user avatar
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0 answers
49 views

ICP results as command in odometry motion model

im going through the odometry motion model proposed by Thurn in Probabilistic Robotics famous book and i have some questions concerning the kind of command that we can use. I will explain more my ...
Lotfi Zeghmi's user avatar
1 vote
3 answers
135 views

Occupancy grid maps

Why do we take probabilistic approch to model the environment for robots in occupancy grid maps.The assumption is always taken that each cell on the grid map is either free or occupied.So why have ...
Tejal Barnwal's user avatar
0 votes
1 answer
260 views

Estimation of pitch, roll, yaw angles: synthesis of an observer or IMU?

Dear Robotics Specialists, I want to contact you for advice. I am developing a control system for complex parallel mechanisms like what I presented in this thread. Formulas for calculating the ...
dtn's user avatar
  • 183
0 votes
1 answer
52 views

My robot keeps getting saved as one cylinder leaving out the bottom cube

I created a robot in the model editor that is made up of a cube and a cylinder with a revolute joint between them but after saving it and inserting another instance into the world, I only get the ...
heretoinfinity's user avatar
0 votes
1 answer
116 views

How to simulate a quadcopter using robotics simulator?

I am building my own autonomous quadcopter. I wish to simulate it using V-REP/Gazebo in order to tune the flight controller. I see that there are inbuilt models but they have properties(physical ...
Soham's user avatar
  • 1
0 votes
1 answer
78 views

Forward kinematics of spherical parallel manipulators with revolute joints

I found an article that can help in my investigations. Forward kinematics of spherical parallel manipulators with revolute joints The problem is solved for the following system of vectors, which is ...
dtn's user avatar
  • 183
0 votes
1 answer
71 views

Why are the angular velocities of concentrated masses in Lagrangian independent?

There is an ordinary linear three-mass system. If we write its Lagrangian, we get the following equation. where $W_k$ and $W_n$ - kinetic and potential energy. To find the moment of rotation of the ...
dtn's user avatar
  • 183
1 vote
2 answers
102 views

Dynamic models of parallel robots in the form of multi-mass systems with stiffness coefficients

I want to develop a dynamic model of a parallel robot for control tasks. It is known that equations of motion based on Lagrange equations can be transformed into a state space and use such a model. ...
dtn's user avatar
  • 183
0 votes
2 answers
724 views

Model of two link rigid manipulator

I am working on parameter estimation of a rigid two-link manipulator as shown in the picture below. Unlike the cylindrical links shown in the above image, my robot has links of oval shape. So the ...
Mouse's user avatar
  • 313
0 votes
1 answer
6 views

Problem with MoveGroupInterface::getRobotModel() providing only const version

I'm trying to get my own instance of JointModelGroup from code equivalent to this: ...
user avatar
0 votes
1 answer
2 views

Second instance of robot model for constraints planning

Hi every one! I'm working on a dual_arm planner to use 2 UR-10 for manipulation. I'm coding it in c++, but i'm still learning every day about coding, so please be gentle :) Using ROS Indigo on Ubuntu ...
user avatar
0 votes
1 answer
44 views

Confused about Xacro and URDF

Hey together, I am a little bit confused about the use case of xacro and urdf. I my case I have an robot equipped with 3 laserscanner and modeled a urdf file for it following the build your URDF ...
user avatar
0 votes
2 answers
30 views

Webots to URDF Model Converter

Is there any existing work out there on a converter that allows generating URDF from Webots models? I´d be interested in anything useful for that task (also partial implementations, hints, etc.). ...
Stefan Kohlbrecher's user avatar
0 votes
1 answer
2 views

footstep_planner model problem

Hi, i'm new in ROS. I'm trying to start with footstep_planner. According footstep_planner and Getting-Started tutorials install all packages that we need. Then i'm running ...
user avatar
0 votes
1 answer
7 views

Dynamic Robot Model Implementation

I'm wondering if anyone can offer advice on how to approximate a non-rigid robot model. I'm implementing a model of a 3 DOF arm for a university independent study that uses a rollable prestressed tube ...
user avatar
0 votes
1 answer
4 views

Pioneer3-AT Rviz/urdf model

Hi everyone! I am running a SLAM simulation using a Pioneer3-AT and it would be usefull if I had the pioneer's model on Rviz. That is, is there a way or a place where I can get a model of the P3-AT ...
user avatar
0 votes
1 answer
3 views

Using osg (OpenSceneGraph) models in rviz?

I am trying to show meshes in rviz and the mesh is originally an OpenSceneGraph model (.osg). My previous conversion pipeline was to use osgconv to convert to 3ds and wings3d to convert to collada dae....
user avatar
0 votes
1 answer
2 views

Compile problem in robot_model (catkin_package)

Hello, When I try to compile the robot_model it shows that: " CMake Error at CMakeLists.txt:6 (catkin_package): Unknown CMake command "catkin_package". " I am using Ubuntu 12.04 &...
user avatar
0 votes
1 answer
2 views

problem in building package 3d_navigation

Hi, I am using ros-diamondback with ubuntu version 10.10. The package '3d_navigation' has dependency on stack 'pr2_mechanism'. While trying to built this stack, it needs 'urdf_interface' from stack '...
user avatar
0 votes
1 answer
1 view

How to use navigation stack in simulation using .dae and rviz

To use and learn navigation stack, I'd like to simulate 2D navigation (path planning and collision avoidance) using a robot model(e.g. PR2.dae) and rviz. Are there any tutorials for that? What are ...
user avatar
0 votes
1 answer
6 views

How to modify the turtlebot robot model in rviz?

Hi, I have remodeled my turtlebot with additional hardware to increase the height of the kinect location. I would like to model the same in rviz. I want to know which urdf file i should edit in order ...
user avatar
0 votes
1 answer
5 views

How to fix SIA10D ROS industrial robot loading model fail in RViz?

I followed ROS-Industrial Tutorial. I run: roslaunch sia10d_mesh_arm_navigation planning_scene_warehouse_viewer_sia10d_mesh.launch And get partly loaded model of ...
user avatar
0 votes
1 answer
6 views

robot description in turtlebot

Hi, I am trying to push everithing related to my robot under the name of the robot, but when it comes to the topic robot_description I can't, the description keeps the original tree for the transform ...
user avatar
0 votes
1 answer
30 views

How to debug gazebo

Hi all, I'm migrating to electric and i have some issues setting my gazebo simulation on, i can launch gazebo and my .world map and i seem to works fine (i had to make some changes to remove some ...
user avatar
0 votes
2 answers
9 views

Is there a list of free available robot models for gazebo?

Hi, I wanted to know if there is a list of free available robots to play with in gazebo; such as turtlebot, PR2, erratic-robot? Maybe there are some models for the Pioneer, Care-O-bot, Roomba, ...
user avatar
0 votes
1 answer
3 views

3d mesh model of robot based on joint states

I want to determine the projection of the robot arms (PR2) onto its cameras so that I can mask these regions out of the images. Has anyone done this before? I see some relevant code in the ...
user avatar
0 votes
3 answers
7 views

Multiple visual entries in urdf

Is it possible to have multiple visual entries in an urdf link? If yes, how? For me, it seems to only take the first entry. The same would go for collision models and maybe inertia. Originally posted ...
user avatar
0 votes
1 answer
4 views

displaying COLLADA 1.4 models in rviz

Thanks Ryohei (and Rosen) for your suggestions - after re-compiling rviz/robot_model from trunk, I was able to see the Barrett hand COLLADA model in rviz. Then I had our summer intern work furiously ...
user avatar
0 votes
2 answers
9 views

what might cause the shoulder_lift_joint not to go all the way up?

Hi, I'm using JointTrajectoryAction to control the arm to follow a trajectory that can be executed well by openrave's controller. Most of the time, it works. But I found one case where the trajectory ...
user avatar
0 votes
1 answer
1 view

ROS Answers SE migration: URDF in Python

Has anyone written a class that does URDF parsing/output in Python yet? I'm debating putting one together, but don't want to replicate work. Originally posted by David Lu on ROS Answers with karma: ...
DLu's user avatar
  • 4,294
0 votes
4 answers
23 views

Converting SolidWorks stuff to URDF. STL and Meshlab problems

We have hard time converting our very cool robot SolidWorks files into URDF. They are way too complicated to make it somehow manually from scratch. As much I know there is no way to draw 3D model with ...
user avatar
0 votes
2 answers
146 views

How to import stl files into urdf files

I am trying to use stl files with the tag mesh with this code: ...
user avatar
0 votes
1 answer
2 views

Is it possible to replace colladadom dependence with macports?

robot_model contains a colladadom build, but it doesn't work in OS X (apparently because it's 32-bit instead of 64). However there's also collada-dom in macports. Is it possible to use the macports ...
user avatar
0 votes
1 answer
1 view

Why does robot_model fail in rosinstall

I get the following when rosinstall hits the robot_model line in .rosinstall: ...
user avatar