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corrected arm dynamics #15

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247 changes: 247 additions & 0 deletions urdf/youbot_arm/arm_corrected_dynamics.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">

<xacro:include filename="$(find youbot_description)/urdf/youbot_arm/arm.gazebo.xacro" />
<xacro:include filename="$(find youbot_description)/urdf/youbot_arm/arm.transmission.xacro" />
<xacro:include filename="$(find youbot_description)/urdf/youbot_arm/limits_corrected_dynamics.urdf.xacro" />

<xacro:macro name="youbot_arm" params="parent name *origin">

<!-- joint between base_link and arm_0_link -->
<joint name="${name}_joint_0" type="fixed" >
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${name}_link_0" />

</joint>

<link name="${name}_link_0">
<inertial>
<!--<origin xyz="0.023 0 0.006" rpy="0 0 0"/>-->
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="${link_0_mass}"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm0.dae" />
</geometry>
<material name="youBot/DarkGrey" />
</visual>

<collision>
<!--<origin xyz="0.023 0 0.006" rpy="0 0 0"/>-->
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm0_convex.dae" />
<!--<cylinder length="0.078" radius="0.093"/>-->
</geometry>
</collision>

</link>

<!-- joint between arm_0_link and arm_1_link -->
<joint name="${name}_joint_1" type="revolute">
<origin xyz="0.024 0 0.115" rpy="${M_PI} 0 0"/>
<parent link="${name}_link_0"/>
<child link="${name}_link_1"/>
<axis xyz="0 0 1"/>
<!--<calibration rising="${arm_1_ref}" falling="${arm_1_ref}"/>-->
<dynamics damping="1" friction="0.5" />
<!-- damping - N*s/m, N*s*m/rad -->
<!-- friction - N, N*m -->
<limit effort="${9.5}" velocity="${M_PI / 2.0}" lower="${-169 * M_PI / 180}" upper="${169 * M_PI / 180}"/>
<!--effort - N, N*m-->
<!--velocity - m/s, rad/s-->
<!--safety_controller k_position="20" k_velocity="${9.5/M_PI / 2.0}" soft_lower_limit="${threshold}" soft_upper_limit="${joint_1_limit_soft}" /-->
<!--k_position N/m, N/rad-->
<!--k_velocity N*s/m, N*s*m/rad-->
<!--for details: http://www.ros.org/wiki/pr2_controller_manager/safety_limits-->
</joint>

<link name="${name}_link_1">
<inertial>
<mass value="${link_1_mass}"/>
<xacro:link_1_inertia_tensor />
</inertial>

<visual>
<origin xyz="0.0 0 0.02" rpy="-${M_PI} 0 0" />
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm1.dae" />
</geometry>
<material name="youBot/Orange" />
</visual>

<collision>
<origin xyz="0.0 0 0.02" rpy="-${M_PI} 0 0" />
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm1_convex.dae" />
<!--<cylinder length="0.102" radius="0.080"/>-->
</geometry>
</collision>
</link>

<!-- joint between arm_1_link and arm_2_link -->
<joint name="${name}_joint_2" type="revolute">
<origin xyz="0.033 0 0.0" rpy="${M_PI_2} ${M_PI_2} 0"/>
<parent link="${name}_link_1"/>
<child link="${name}_link_2"/>
<axis xyz="0 0 1"/>
<!--<calibration rising="${arm_2_ref}" falling="${arm_2_ref}"/>-->
<dynamics damping="1" friction="0.5" />
<limit effort="${9.5}" velocity="${M_PI / 2.0}" lower="${-65 * M_PI / 180}" upper="${90 * M_PI / 180}"/>
<!--safety_controller k_position="20" k_velocity="${2*9.5/M_PI}" soft_lower_limit="${threshold}" soft_upper_limit="${joint_2_limit_soft}" /-->
</joint>

<link name="${name}_link_2">
<inertial>
<mass value="${link_2_mass}"/>
<xacro:link_2_inertia_tensor />
</inertial>

<visual>
<origin xyz="0.078 0.0 -0.032" rpy="${M_PI_2} 0 ${M_PI_2}" />
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm2.dae" />
</geometry>
</visual>

<collision>
<!--<origin xyz="0.001 -0.041 0.074" rpy="0 0 0" />-->
<origin xyz="0.078 0.0 -0.032" rpy="${M_PI_2} 0 ${M_PI_2}" />
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm2_convex.dae" />
<!--<box size="0.074 0.082 0.222"/>-->
</geometry>
</collision>
</link>

<!-- joint between arm_2_link and arm_3_link -->
<!--<joint name="${name}_joint_3" type="revolute">
<origin xyz="0.000 0.000 0.155" rpy="0 ${146 * M_PI / 180} 0"/>
<parent link="${name}_link_2"/>
<child link="${name}_link_3"/>
<axis xyz="0 1 0"/>
<dynamics damping="1" friction="1" />
<limit effort="${6}" velocity="${M_PI / 2.0}" lower="-${joint_3_limit}" upper="0"/>
<safety_controller k_position="20" k_velocity="50" soft_lower_limit="-${joint_3_limit_soft}" soft_upper_limit="${threshold}" />
</joint>-->
<joint name="${name}_joint_3" type="revolute">
<origin xyz="0.155 0.000 0.0" rpy="0 0 -${M_PI_2}"/>
<parent link="${name}_link_2"/>
<child link="${name}_link_3"/>
<axis xyz="0 0 1"/>
<dynamics damping="1" friction="0.5" />
<limit effort="${6.0}" velocity="${M_PI / 2.0}" lower="${-151 * M_PI / 180}" upper="${146 * M_PI / 180}"/>
<!--safety_controller k_position="20" k_velocity="50" soft_lower_limit="-${joint_3_limit_soft}" soft_upper_limit="-${threshold}" /-->
</joint>

<link name="${name}_link_3">
<inertial>
<mass value="${link_3_mass}"/>
<xacro:link_3_inertia_tensor />
</inertial>

<visual>
<origin xyz="0.000 0.079 0.028" rpy="-${M_PI_2} ${M_PI} 0" />
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm3.dae" />
</geometry>
<material name="youBot/Orange" />
</visual>

<collision>
<!--<origin xyz="0.000 0.025 0.067" rpy="0 0 0" />-->
<origin xyz="0.000 0.079 0.028" rpy="-${M_PI_2} ${M_PI} 0" />
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm3_convex.dae" />
<!--<box size="0.064 0.054 0.192"/>-->
</geometry>
</collision>
</link>

<!-- joint between arm_3_link and arm_4_link -->
<joint name="${name}_joint_4" type="revolute">
<origin xyz="0.000 0.135 0.0" rpy="0 0 0" />
<parent link="${name}_link_3"/>
<child link="${name}_link_4"/>
<axis xyz="0 0 1" />
<!--<calibration rising="${arm_4_ref}" falling="${arm_4_ref}"/>-->
<dynamics damping="1" friction="0.5" />
<limit effort="${2.0}" velocity="${M_PI / 2.0}" lower="${-102.5 * M_PI / 180}" upper="${102.5 * M_PI / 180}"/>
<!--safety_controller k_position="20" k_velocity="100" soft_lower_limit="0" soft_upper_limit="${joint_4_limit_soft}" /-->
</joint>

<link name="${name}_link_4">
<inertial>
<mass value="${link_4_mass}"/>
<xacro:link_4_inertia_tensor />
</inertial>

<visual>
<!-- <origin xyz="0 -0.010 0.029" rpy="${M_PI} 0 0"/> -->
<origin xyz="0 0.029 -0.010" rpy="-${M_PI_2} ${M_PI} 0"/>
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm4.dae" />
</geometry>
<material name="youBot/Orange" />
</visual>

<collision>
<!--<origin xyz="0 0 0.026" rpy="0 0 0" />-->
<origin xyz="0 0.029 -0.010" rpy="-${M_PI_2} ${M_PI} 0"/>
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm4_convex.dae" />
<!--<box size="0.058 0.100 0.118"/>-->
</geometry>
</collision>
</link>

<!-- joint between arm_4_link and arm_5_link -->
<joint name="${name}_joint_5" type="revolute">
<origin xyz="0.00 0.1136 0.0" rpy="-${M_PI_2} 0 0" />
<parent link="${name}_link_4"/>
<child link="${name}_link_5"/>
<axis xyz="0 0 -1" />
<!--<calibration rising="${arm_5_ref}" falling="${arm_5_ref}"/>-->
<dynamics damping="0.5" friction="0.5" />
<limit effort="${1.0}" velocity="${M_PI / 2.0}" lower="${-165 * M_PI / 180}" upper="${165 * M_PI / 180}" />
<!--safety_controller k_position="20" k_velocity="100" soft_lower_limit="0" soft_upper_limit="${joint_5_limit_soft}" /-->
</joint>

<link name="${name}_link_5">
<inertial>
<mass value="${link_5_mass}"/>
<xacro:link_5_inertia_tensor />
</inertial>

<visual>
<origin xyz="0.00 0 -0.019" rpy="0 0 0" />
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm5.dae" />
</geometry>
<material name="youBot/DarkGrey" />
</visual>

<collision>
<origin xyz="0.00 0 -0.019" rpy="0 0 0" />
<geometry>
<mesh filename="package://youbot_description/meshes/youbot_arm/arm5_convex.dae" />
<!--<box size="0.054 0.096 0.030"/>-->
</geometry>
</collision>
</link>

<!-- extensions -->
<xacro:youbot_arm_gazebo name="${name}" />
<xacro:youbot_arm_transmission name="${name}" />

</xacro:macro>

</robot>
79 changes: 79 additions & 0 deletions urdf/youbot_arm/limits_corrected_dynamics.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">

<!-- common properties -->
<xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:property name="M_PI_2" value="1.570796327" />
<xacro:property name="threshold" value="0.01" />

<!-- arm limits positions (deg) -->
<xacro:property name="joint_1_limit" value="${M_PI * (169 + 169) / 180}" />
<xacro:property name="joint_2_limit" value="${M_PI * (90 + 65) / 180}" />
<xacro:property name="joint_3_limit" value="${M_PI * (146 + 151) / 180}" />
<xacro:property name="joint_4_limit" value="${M_PI * (102.5 + 102.5) / 180}" />
<xacro:property name="joint_5_limit" value="${M_PI * (167.5 + 167.5) / 180}" />

<xacro:property name="joint_1_limit_soft" value="${joint_1_limit - threshold}" />
<xacro:property name="joint_2_limit_soft" value="${joint_2_limit - threshold}" />
<xacro:property name="joint_3_limit_soft" value="${joint_3_limit - threshold}" />
<xacro:property name="joint_4_limit_soft" value="${joint_4_limit - threshold}" />
<xacro:property name="joint_5_limit_soft" value="${joint_5_limit - threshold}" />

<!-- dynamic properties : mass (kg) Alu data sheet -->
<xacro:property name="link_0_mass" value="0.961" />
<xacro:property name="link_1_mass" value="1.390" />
<xacro:property name="link_2_mass" value="1.318" />
<xacro:property name="link_3_mass" value="0.821" />
<xacro:property name="link_4_mass" value="0.769" />
<xacro:property name="link_5_mass" value="0.687" />
<!--<xacro:property name="link_0_mass" value="0.845" />
<xacro:property name="link_1_mass" value="0.1" />
<xacro:property name="link_2_mass" value="0.1" />
<xacro:property name="link_3_mass" value="0.1" />
<xacro:property name="link_4_mass" value="0.1" />
<xacro:property name="link_5_mass" value="0.1" />-->
<!-- TODO: add inertia tensor-->

<xacro:macro name="default_origin">
<origin xyz="0 0 0" rpy="0 0 0"/> <!-- no data known -->
</xacro:macro>

<xacro:macro name="link_default_inertia_tensor">
<origin xyz="0 0 0"
rpy="0 0 0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</xacro:macro>

<xacro:macro name="link_1_inertia_tensor">
<origin xyz="${15.16/1000} ${3.59/1000} ${31.05/1000}"
rpy="0 ${-20 * M_PI / 180} ${M_PI}" />
<inertia ixx="0.0029525" ixy="0.0" ixz="0.0" iyy="0.0060091" iyz="0.0" izz="0.0058821"/>
</xacro:macro>

<xacro:macro name="link_2_inertia_tensor">
<origin xyz="${113.97/1000} ${15.0/1000} ${-19.03/1000}"
rpy="-${M_PI_2} -${M_PI_2} 0" />
<inertia ixx="0.0031145" ixy="0.0" ixz="0.0" iyy="0.0005843" iyz="0.0" izz="0.0031631"/>
</xacro:macro>

<xacro:macro name="link_3_inertia_tensor">
<origin xyz="${0.13/1000} ${104.41/1000} ${20.22/1000}"
rpy="${M_PI_2} 0 0" />
<inertia ixx="0.00172767" ixy="0.0" ixz="0.0" iyy="0.00041967" iyz="0.0" izz="0.0018468"/>
</xacro:macro>

<xacro:macro name="link_4_inertia_tensor">
<origin xyz="${0.15/1000} ${53.53/1000} ${-24.64/1000}"
rpy="${140 * M_PI / 180} 0 ${M_PI}" />
<inertia ixx="0.0006764" ixy="0.0" ixz="0.0" iyy="0.0010573" iyz="0.0" izz="0.0006610"/>
</xacro:macro>

<xacro:macro name="link_5_inertia_tensor">
<origin xyz="${0/1000} ${1.2/1000} ${-16.48/1000}"
rpy="0 ${M_PI_2} 0" />
<inertia ixx="0.0001934" ixy="0.0" ixz="0.0" iyy="0.0001602" iyz="0.0" izz="0.0000689"/>

</xacro:macro>


</robot>