analyticIn​verseKinem​atic(robot​) : No valid kinematic groups found

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青鹏
青鹏 2024-3-29
编辑： Varun 2024-4-10
Hello everyone , I am trying a robot 'JAKA'. The model is build by solidworks and made as urdf. I used imporrobot to my matlab. When I use analytical
robot = importrobot('Zu 5拖动.SLDASM.urdf');
robot.DataFormat = 'column';
showdetails(robot)
show(robot);
%%
aik = analyticalInverseKinematics(robot);
showdetails(aik)
--------------------
Robot: (6 bodies)
Index Base Name EE Body Name Type Actions
----- --------- ------------ ---- -------
No valid kinematic groups were found.
here is the urdf
<?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: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="Zu 5拖动.SLDASM">
<link
name="base_link">
<inertial>
<origin
xyz="0.00096514 1.4523E-07 -0.039005"
rpy="0 0 0" />
<mass
value="0.51456" />
<inertia
ixx="0.00062122"
ixy="3.5203E-09"
ixz="3.2179E-06"
iyy="0.00086631"
iyz="-1.7781E-10"
izz="0.0013527" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link1">
<inertial>
<origin
xyz="-0.0028802 0.0016567 0.010078"
rpy="0 0 0" />
<mass
value="1.9282" />
<inertia
ixx="0.0055277"
ixy="6.6575E-05"
ixz="-1.6595E-06"
iyy="0.0056051"
iyz="9.6367E-07"
izz="0.0038887" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.05"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="link1" />
<axis
xyz="0 0 1" />
<limit
lower="-1.507"
upper="1.507"
effort="0"
velocity="3.14" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="0.215004032141501 -1.70664149061472E-06 0.143143796429021"
rpy="0 0 0" />
<mass
value="5.8404000828608" />
<inertia
ixx="0.0132172411065059"
ixy="-4.52434003078879E-08"
ixz="-3.7468541965423E-08"
iyy="0.0305877160441601"
iyz="5.32492793717312E-08"
izz="0.0270802855555693" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0 0.01159"
rpy="-1.5708 -0.42496 1.0486" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="0 0 1" />
<limit
lower="-1.507"
upper="1.507"
effort="0"
velocity="3.14" />
</joint>
<link
name="link3">
<inertial>
<origin
xyz="0.190915764722818 -4.07561617134233E-06 0.0105860497516908"
rpy="0 0 0" />
<mass
value="2.30132258930575" />
<inertia
ixx="0.00252190552863958"
ixy="-3.04325005231565E-07"
ixz="0.00207395456620463"
iyy="0.0214799120537863"
iyz="-4.07266309713162E-08"
izz="0.0210544506719235" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="0.43 0 0"
rpy="0 0 0.15848" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 0 1" />
<limit
lower="-1.507"
upper="1.507"
effort="0"
velocity="3.14" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="0.00580029532732423 1.71861622266789E-07 -0.002672016412474"
rpy="0 0 0" />
<mass
value="0.707387393667367" />
<inertia
ixx="0.000659712143433493"
ixy="2.4021956947218E-09"
ixz="-5.0743481467394E-05"
iyy="0.000903598863822185"
iyz="7.7852513862115E-09"
izz="0.000872946154442263" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0.36851 0 0.114"
rpy="0 0 0.98983" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="0 0 1" />
<limit
lower="-1.0472"
upper="3.14"
effort="0"
velocity="3.14" />
</joint>
<link
name="link5">
<inertial>
<origin
xyz="-0.0416167701998802 -2.14156856248593E-07 -0.00234242207908369"
rpy="0 0 0" />
<mass
value="0.806935241831566" />
<inertia
ixx="0.000744727249669707"
ixy="7.47029446372042E-10"
ixz="5.47928151095072E-06"
iyy="0.00164589538209367"
iyz="7.5480693554719E-09"
izz="0.00160865691857277" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0.1135 0.028712 -0.02599"
rpy="1.5708 0.73568 1.5708" />
<parent
link="link4" />
<child
link="link5" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="0"
velocity="3.14" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="-2.90671251432228E-05 1.00947249533911E-05 -0.00297288778895549"
rpy="0 0 0" />
<mass
value="0.180494513787609" />
<inertia
ixx="9.0957032191393E-05"
ixy="-2.37391404607372E-07"
ixz="1.05156587429873E-07"
iyy="9.21406427094874E-05"
iyz="-1.91039479729075E-07"
izz="0.000143814491216129" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Zu 5拖动.SLDASM/meshes/link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0.05 0 0"
rpy="1.5708 -0.023469 1.5708" />
<parent
link="link5" />
<child
link="link6" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="0"
velocity="3.14" />
</joint>
</robot>

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回答（1 个）

Varun
Varun 2024-4-10
编辑：Varun 2024-4-10

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