2021-11-06 kinova gen2 手写简化URDF_this urdf was automatically created by solidworks -优快云博客

这是一个关于机器人操作系统（ROS）中通用机器人描述格式（URDF）的XML文件，展示了机器人从基座到多个连杆及关节的详细结构。文件包含了连杆的几何形状、材质、碰撞模型以及各个连续和旋转关节的定义，包括关节类型、位置、限制和速度等参数。

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<?xml version="1.0" encoding="utf-8"?>

<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 

     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634

     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->

<robot

  name="urdfonly">

  <link

    name="base_link">

  </link>



  <joint

    name="joint_1"

    type="continuous">

    <origin

      xyz="0 0 0.17"

      rpy="3.14159265358979 0 0" />

    <parent

      link="base_link" />

    <child

      link="link_1" />

    <axis

      xyz="0 0 1" />

    <limit

      effort="7"

      velocity="0.52" />

  </joint>



  <link

    name="link_1">

    <visual>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <cylinder radius="0.05" length="0.34" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.86667 0.86667 0.8902 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 0"

        rpy="0 0 0" />

      <geometry>

        <cylinder radius="0.05" length="0.34" />

      </geometry>

    </collision>

  </link>







  <joint

    name="joint_2"

    type="revolute">

    <origin

      xyz="0 -0.02 -0.1055"

      rpy="-1.5707963267949 0 0" />

    <parent

      link="link_1" />

    <child

      link="link_2" />

    <axis

      xyz="0 0 1" />

    <limit

      lower="0"

      upper="6.2832"

      effort="14"

      velocity="0.52" />

  </joint>



  <link

    name="link_2">



    <visual>

      <origin

        xyz="0 -0.205 0"

        rpy="1.57079 0 0" />

      <geometry>

        <cylinder radius="0.05" length="0.50" />

      </geometry>

      <material

        name="">

        <color

          rgba="1 1 1 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 -0.205 0"

        rpy="1.57079 0 0" />

      <geometry>

        <cylinder radius="0.05" length="0.50" />

      </geometry>

    </collision>

  </link>







  <joint

    name="joint_3"

    type="revolute">

    <origin

      xyz="0 -0.41 0.04"

      rpy="3.14159265358979 0 0" />

    <parent

      link="link_2" />

    <child

      link="link_3" />

    <axis

      xyz="0 0 1" />

    <limit

      lower="0"

      upper="6.2832"

      effort="5"

      velocity="0.52" />

  </joint>



  <link

    name="link_3">

    

    <visual>

      <origin

        xyz="0 -0.10 0"

        rpy="1.5707963267949 0 0" />

      <geometry>

        <cylinder radius="0.05" length="0.28" />

      </geometry>

      <material

        name="">

        <color

          rgba="1 1 1 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 -0.10 0"

        rpy="1.5707963267949 0 0" />

      <geometry>

        <cylinder radius="0.05" length="0.28" />

      </geometry>

    </collision>

  </link>







  <joint

    name="joint_4"

    type="continuous">

    <origin

      xyz="0 0 -0.00975"

      rpy="-1.5707963267949 0 0" />

    <parent

      link="link_3" />

    <child

      link="link_4" />

    <axis

      xyz="0 0 1" />

    <limit

      effort="5"

      velocity="0.52" />

  </joint>



  <link

    name="link_4">

    

    <visual>

      <origin

        xyz="0 0 -0.25"

        rpy="0 0 0" />

      <geometry>

        <sphere radius="0.06" />

      </geometry>

      <material

        name="">

        <color

          rgba="1 1 1 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 -0.25"

        rpy="0 0 0" />

      <geometry>

        <sphere radius="0.06" />

      </geometry>

    </collision>

  </link>







  <joint

    name="joint_5"

    type="continuous">

    <origin

      xyz="0 0 -0.25001"

      rpy="-1.0472 0 0" />

    <parent

      link="link_4" />

    <child

      link="link_5" />

    <axis

      xyz="0 0 1" />

    <limit

      effort="2"

      velocity="0.52" />

  </joint>



  <link

    name="link_5">

    

    <visual>

      <origin

        xyz="0 0 -0.0856"

        rpy="0 0 0" />

      <geometry>

        <sphere radius="0.06" />

      </geometry>

      <material

        name="">

        <color

          rgba="1 1 1 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 -0.0856"

        rpy="0 0 0" />

      <geometry>

        <sphere radius="0.06" />

      </geometry>

    </collision>

  </link>







  <joint

    name="joint_6"

    type="continuous">

    <origin

      xyz="0 0 -0.085514"

      rpy="1.0472 0 0" />

    <parent

      link="link_5" />

    <child

      link="link_6" />

    <axis

      xyz="0 0 1" />

    <limit

      effort="2"

      velocity="0.52" />

  </joint>



  <link

    name="link_6">

   

    <visual>

      <origin

        xyz="0 0 -0.10"

        rpy="0 0 0" />

      <geometry>

        <sphere radius="0.07" />

      </geometry>

      <material

        name="">

        <color

          rgba="0.1098 0.1098 0.1098 1" />

      </material>

    </visual>

    <collision>

      <origin

        xyz="0 0 -0.10"

        rpy="0 0 0" />

      <geometry>

        <sphere radius="0.07" />

      </geometry>

    </collision>

  </link>











  <joint

    name="joint_7"

    type="fixed">

    <origin

      xyz="0 0 -0.2"

      rpy="3.14159265358979 0 1.5707963267949" />

    <parent

      link="link_6" />

    <child

      link="link_7" />

    <axis

      xyz="0 0 0" />

  </joint>



  <link

    name="link_7">

  </link>





</robot>