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When I import a stewart platform URDF model with closed chain into ROS, the model doesn't work well and can't drive the joint. What's wrong with the URDF model? |
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Answered by
JadeCong
Nov 28, 2024
Replies: 1 comment
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No, closed kinematic chains are not officially supported with URDF in ROS and URDF supports only tree structure. |
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Answer selected by
JadeCong
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No, closed kinematic chains are not officially supported with URDF in ROS and URDF supports only tree structure.
Here is the official answer reference(https://robotics.stackexchange.com/questions/77935/how-to-do-motion-planing-with-closed-loop-chain-graph-robot-structure).