Original report (archived issue) by DouglasS (Bitbucket: DouglasS).
On the electric forearm joints of Atlas it is important not to command a position that is outside of the range of motion. If you do, it will saturate the current and rapidly overheat the motor. We measured the joint limits of the forearm and found some of the actual joint limits to be less than the URDF model.
The table below summarizes the joint limits from the URDF and then as measured on our Atlas robot. The numbers marked with asterisks indicate limits that are less than the URDF.
| Joint |
Model File Lower Limit |
Model File Upper Limit |
Measured, Left, Lower |
Measured, Left, Upper |
Measured, Right, Lower |
Measured, Right, Upper |
| wry |
-3.011 |
+3.011 |
-2.999* |
+2.990* |
-2.979* |
+2.982* |
| wrx |
-1.763 |
+1.768 |
-1.746 |
+1.767* |
-1.765 |
+1.762* |
| wry2 |
-2.967 |
+2.967 |
-2.903* |
+2.900* |
-2.885* |
+2.881* |
Original report (archived issue) by DouglasS (Bitbucket: DouglasS).
On the electric forearm joints of Atlas it is important not to command a position that is outside of the range of motion. If you do, it will saturate the current and rapidly overheat the motor. We measured the joint limits of the forearm and found some of the actual joint limits to be less than the URDF model.
The table below summarizes the joint limits from the URDF and then as measured on our Atlas robot. The numbers marked with asterisks indicate limits that are less than the URDF.