URDF in MATLAB/Simulink

Question

Ehtisham ul Hasan 2021-11-15

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1587349-urdf-in-matlab-simulink

编辑： Githin John 2021-11-17

Hi,

I am interetsed to use the URDF of KUKA-LWR 4+ and I could only find robot = importrobot('iiwa14.urdf') from an example given by mathworks. Can I find it for KUKA-LWR 4+? if yes, please share the name of the file or else please suggest if iiwa14.urdf can be ammended to make the one I am interested in.

As per my understanding iiwa14.urdf cannot be used interchangablely with KUKA-LWR 4+. Please correct me if I am wrong.

Many thanks

Best Regards

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Answer 1

Githin John 2021-11-17

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https://ww2.mathworks.cn/matlabcentral/answers/1587349-urdf-in-matlab-simulink#answer_833599

编辑：Githin John 2021-11-17

Hi,

The Robot Library in MATLAB doesn't currently provide the URDF for KUKA LWR 4+ but you should be able to find it in this repo (the best I could find for this robot). The repo contains xacros which you can convert to URDF using the ROS node xacro. I would suggest importing from this URDF rather than modifying iiwa14.

Disclaimer: This is not a source of URDFs shipping in an installed MATLAB.

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Ehtisham ul Hasan 2021-11-17

Yes, I am working on the same repo as what you said is true and only way forward. Somehow the converted urdf is giving me error that links cannot be found which is a bit strange as the .urdf.xacro file contains all the files necessary. So I hope I am able to figure it out and finally use the URDF.

Thank you so much for the kind response

Best Regards

Githin John 2021-11-17