At the mechanism transmission level, you have direct control over the
individual joint torques based on joint positions and velocities, will that
satisfy your modeling needs?
John
On Oct 12, 2010 7:45 AM, "Andrew Mor" <
abm760@gmail.com> wrote:
I'm looking to simulate two joints in a finger actuated by a single motor,
where the outer link rotates at a different rate than the inner link. It
looks like a custom transmission is the best method for doing this. Is this
correct, and if so, are there any non-obvious tricks for coding up a custom
transmission? I've looked through the 3 transmissions in
pr2_mechanism_model.
Thanks
Andrew Mor
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