[ros-users] Custom transmission

[John Hsu]

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 at 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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