Feedback about UR10 on two linear axes and MoveIt

compas_fab
1

Hello,

I have read the following tutorial: Creating a URDF of the UR10 on two linear axes.

I would like to know if the meshes are available somewhere?
I am working on a potentially similar setup (prismatic joints for in-plane displacement, followed by a 6dof robotic arm) and I would like to experiment with it.
Also, do you have any experience with MoveIt for motion planing with this configuration? Since the robot configuration is a little bit unusual, is MoveIt able to correctly found solution when the user specifies an end-effector configuration?

Thanks.

2

Hello,

Yes, this should work fine. Our lab at ETH also has 6-dof arms mounted on prismatic joints (3 prismatic joints in our case):

image
image930×523 115 KB

About the meshes, which ones you mean?

Cheers

3

Hello,

Thanks for your answer.
My concern was about some possible issue when dealing with motion planning with MoveIt, due to the unusual configuration. But afterward I realise that humanoid robots have much more degrees of freedom than what I am planning to do…

I have tested a PRRRRRR URDF and there seems to be no issue with MoveIt.

This is a really nice setup you have at ETHZ :slight_smile:
The tutorials are really nice. I am a ROS user and one suggestion could be to add a specific repository for tutorial code / data for specific ROS things. This would benefit the ROS community to have ready to use examples.
I guess that users of the COMPAS framework have already access to the whole scene and can export tower.stl, axis1_plate.stl, axis2.stl meshes.
My experience with ROS is that often tutorials are a little bit outdated or it is better to study the code, use some working projects as a reference.