Load UR5 robot with Robotics System Toolbox

Question

Søren Holm-Petersen 2020-3-19

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/511729-load-ur5-robot-with-robotics-system-toolbox

评论： AC 2022-3-12

Hi

I am trying to do a robot simulation of a Universal Robot 5 (UR5). I was pleasantly surprised when reading up on how to load a robot, that the toolbox supposedly already has a UR5 model called "universalUR5" (https://www.mathworks.com/help/robotics/ref/loadrobot.html).

However I cannot load it doing:

>> loadrobot("universalUR5")
Error using loadrobot (line 46)
Expected robotName to match one of these values:
'abbIrb120', 'abbIrb120T', 'kinovaGen3', 'kinovaJacoJ2N6S200', 'kinovaJacoJ2N6S300', 'kinovaJacoJ2N7S300',
'kinovaJacoJ2S6S300', 'kinovaJacoJ2S7S300', 'kinovaJacoTwoArmExample', 'kinovaMicoM1N4S200', 'kinovaMicoM1N6S200',
'kinovaMicoM1N6S300', 'rethinkBaxter', 'willowgaragePR2'

If I look in my MATLAB installation folder under "MATLAB/R2019b/toolbox/robotics/robotmanip/data/roboturdf" - I also see that I only have urdf files for the robots listed above.

Does anybody know if the UniversalUR5 urdf and meshes can be downloaded from somewhere and used in matlab?

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Mingfeng Wang 2022-1-13

Now you can get the UR5 in the latest 'Robotics Systems toolbox'

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Answer 1

Ameer Hamza 2020-3-19

2
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/511729-load-ur5-robot-with-robotics-system-toolbox#answer_420934

在 MATLAB Online 中打开

ur5.zip

MATLAB does not natively provide the model for the UR5 robot. However, you can find the files from this GitHub repository: https://github.com/ros-industrial/robot_movement_interface/tree/master/dependencies. Although you can download the complete package, you may have a problem in configuring the paths to make it work with MATLAB. I have modified the urdf file to point it local directory to search for meshes and placed the meshes in the same directory. You can download this zip file and place it on MATLAB's path. The following code shows an example of how to load the robot and display it on the axes

robot = importrobot('ur5_robot.urdf');
robot.show

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Ameer Hamza 2020-5-28

Sungsoo, you will need to find its 3D model and urdf file. It is not natively provided from MATLAB, so you will need to see if it is available somewhere else.

AC 2022-3-12

Dear Sir, I downloaded "https://www.mathworks.com/matlabcentral/fileexchange/98714-robotics-system-toolbox-robot-library-data" and it sasy This support package provides source mesh files to visualize and simulate robots in the Robot Library. But i coudlnt find mesh files after downloaded it.

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