O'Reilly logo

Robot Operating System Cookbook by Kumar Bipin

Stay ahead with the world's most comprehensive technology and business learning platform.

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, tutorials, and more.

Start Free Trial

No credit card required

URDF modeling for an industrial robot

There are a few guidelines for URDF design and modeling that are followed by ROS-I:

  • Modular Design: The URDF design should be modularized using xarco macros, which can be used in a complex and large URDF modeling without any difficulty.
  • Reference Frame: The base_link frame should be the first link, and tool-zero (tool0) should be the end-effector link.
  • Joint Conventions: The orientation value of each robot joint is limited to single rotation only. For example, out of the three, orientation-roll, pitch, and yaw values, only one value will be used there.
  • Collision Awareness: The inverse kinematics (IK) planners used in the industrial robot are collision aware, therefore the URDF model must have a precise ...

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, interactive tutorials, and more.

Start Free Trial

No credit card required