Gravity compensation can be achieved by applying forces to a joint.
In section 7.5.1 of the ODE manual, they list the different parameters
for each joint type. Each joint in Gazebo has a SetParam( int
parameter, double value) function. This function allows you to set the
parameters of a joint. So you can set the velocity of the joints,
specify force limits, etc.
You can also add forces/torques directly to a body. Look in the
Body.hh file, the functions are intuitive.
Your third option is to add forces/torques to joints. This is not
implemented in Gazebo, but is documented in ODE (section 7.6 of the
On Mon, 23 Aug 2004 13:29:49 +0200, Daniel Poza Zamarr=F3n
> Hello, I asked this question " a long time ago" and you gave me a good
> solution.. but at this moment, this solution is not enought:
> I have made a robotic arm. I have a HingeJoint in the shoulder that allow=
> my arm to move up and down.
> THE PROBLEM: Due to my arm MUST HAVE MASS, the arm falls and doesn=B4t wo=
> properly with this joint. I whould like to be able to move my arm up and
> down correctly and to set it in a fixed position whem I want.
> When I asked you this, two monts ago, you suggested me to desactivate the
> gravity properties of my arm. This sollution worked ok, but now I MUST HA=
> MASS so I need another solution.
> Should I use an engine? How can I apply a force to my HingeJoint to balan=
> the gravity effect?
> Thank you!
> -DANIEL POZA-
> =BFEst=E1s pensando en cambiar de coche? Todas los modelos de serie y ext=
> MSN Motor. http://motor.msn.es/researchcentre/
> SF.Net email is sponsored by Shop4tech.com-Lowest price on Blank Media
> 100pk Sonic DVD-R 4x for only $29 -100pk Sonic DVD+R for only $33
> Save 50% off Retail on Ink & Toner - Free Shipping and Free Gift.
> Playerstage-gazebo mailing list