.URDFModelica.Documentation.GenericRobotExample

Information

Package URDFModelica/Examples contains GenericRobot: an example simulation of a Unified Robot Description Format URDF https://wiki.ros.org/urdf/XML/robot defined generic robot that shows how few lines of code are needed to simulate almost any kind of robot.

The Python script translates a URDF file to a single Modelica record saved where input -o points to. Use -g option if you only want the URDF to single Modelica record translation without the package generation approach explained elsewhere.

The record also contains two matrices.

connectionMatrix[numJoints,2] lists the connected parent and child link for every joint.
moveableJoints[numAxes,2] has the joint number and moveable axis number for every joint that is not fixed.

The variable structure Robot.Robot model assembles joints and links arrays of variable lengths to a robot model, see the robot documentation for further details. GenericRobot adds a multibody world and inputs to this generic robot using the UR10e manipulator as example. Simply replace the robotData record selected by the generic robot to simulate any other robot, that's all.

GenericRobot_Visualization2 is the same example using DLR Visualization 2 instead of the Standard Library multibody mechanics visualizers.

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