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URDF ECM
ECM URDF file notes. Note: All frames are same as Modified DH.
roslaunch dvrk_model ecm.launch
| Name | Type | Joint | Link | Comment | |
|---|---|---|---|---|---|
| 0 | Base | Fixed | N/A | N/A (Dummy) | N/A |
| 1 | Yaw | Revolute | ecm_yaw_joint | ecm_yaw_link | N/A |
| 2 | Pitch | Revolute | ecm_pitch_joint | ecm_pitch_link | 3 passive links |
| 3 | Insertion | Prismatic | ecm_insertion_joint | ecm_insertion_link | N/A |
| 4 | Roll | Revolute | ecm_roll_joint | ecm_roll_link | N/A |
| Date | Author | Comment |
|---|---|---|
| 2014-10-09 | Zihan Chen | Initial Revision |