228 lines
8.1 KiB
XML
228 lines
8.1 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="aubo_iS20">
|
|
<dh_type type="modified"/>
|
|
<safety_para singularity_consistent="0.02 0.01 10 0.2 0.045 10"/>
|
|
<link name="base_link">
|
|
<inertial>
|
|
<origin xyz="-0.00001 0.01392 0.03668" rpy="0 0 0" />
|
|
<mass value="3.21884" />
|
|
<inertia ixx="0.01636" ixy="0" ixz="0" iyy="0.01304" iyz="0.00027" izz="0.02491" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS20/visual/link0.DAE" />
|
|
</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://aubo_description/meshes/aubo_iS20/collision/link0.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<link name="shoulder_Link">
|
|
<inertial>
|
|
<origin xyz="-0.00001 0.00372 -0.03497" rpy="0 0 0" />
|
|
<mass value="15.37779" />
|
|
<inertia ixx="0.08014" ixy="-0.00002" ixz="0.00002" iyy="0.07972" iyz="-0.00249" izz="0.0666" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS20/visual/link1.DAE" />
|
|
</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://aubo_description/meshes/aubo_iS20/collision/link1.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="shoulder_joint" type="revolute">
|
|
<origin xyz="0 0 0.1855" rpy="0 0 3.1415926535897932384626433832795" />
|
|
<parent link="base_link" />
|
|
<child link="shoulder_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="557" start_stop="802" velocity="2.5953" />
|
|
<property inertia="9.5" damping="0" stiffness="0" offset="0" motor_constant="17.45" ratio="121"/>
|
|
</joint>
|
|
|
|
<link name="upperArm_Link">
|
|
<inertial>
|
|
<origin xyz="0.32007 0.0 0.01388" rpy="0 0 0" />
|
|
<mass value="30.81523" />
|
|
<inertia ixx="0.15023" ixy="0.00007" ixz="-0.04352" iyy="4.12564" iyz="-0.00003" izz="4.09815" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS20/visual/link2.DAE" />
|
|
</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://aubo_description/meshes/aubo_iS20/collision/link2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="upperArm_joint" type="revolute">
|
|
<origin xyz="0 0.181 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
|
|
<parent link="shoulder_Link" />
|
|
<child link="upperArm_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="557" start_stop="802" velocity="2.5953" />
|
|
<property inertia="9.5" damping="0" stiffness="0" offset="0" motor_constant="17.45" ratio="121"/>
|
|
</joint>
|
|
|
|
<link name="foreArm_Link">
|
|
<inertial>
|
|
<origin xyz="0.47472 -0.00001 0.11277" rpy="0 0 0" />
|
|
<mass value="6.2752" />
|
|
<inertia ixx="0.01262" ixy="0.00001" ixz="0.00353" iyy="0.50164" iyz="0" izz="0.50044" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS20/visual/link3.DAE" />
|
|
</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://aubo_description/meshes/aubo_iS20/collision/link3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="foreArm_joint" type="revolute">
|
|
<origin xyz="0.803 0 0" rpy="-3.1415926535897932384626433832795 0 0" />
|
|
<parent link="upperArm_Link" />
|
|
<child link="foreArm_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="267" start_stop="433" velocity="3.1067" />
|
|
<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="9.54" ratio="101"/>
|
|
</joint>
|
|
|
|
<link name="wrist1_Link">
|
|
<inertial>
|
|
<origin xyz="0.00001 0.0193 -0.00172" rpy="0 0 0" />
|
|
<mass value="2.89061" />
|
|
<inertia ixx="0.00467" ixy="0" ixz="0" iyy="0.00332" iyz="-0.00012" izz="0.00464" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS20/visual/link4.DAE" />
|
|
</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://aubo_description/meshes/aubo_iS20/collision/link4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="wrist1_joint" type="revolute">
|
|
<origin xyz="0.719 0 0" rpy="3.1415926535897932384626433832795 0 1.5707963267948966192313216916398" />
|
|
<parent link="foreArm_Link" />
|
|
<child link="wrist1_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="58" start_stop="107" velocity="5.1714" />
|
|
<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="81"/>
|
|
</joint>
|
|
|
|
<link name="wrist2_Link">
|
|
<inertial>
|
|
<origin xyz="-0.00001 -0.0193 -0.00172" rpy="0 0 0" />
|
|
<mass value="2.89061" />
|
|
<inertia ixx="0.00467" ixy="0" ixz="0" iyy="0.00332" iyz="0.00012" izz="0.00464" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS20/visual/link5.DAE" />
|
|
</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://aubo_description/meshes/aubo_iS20/collision/link5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="wrist2_joint" type="revolute">
|
|
<origin xyz="0 0.125 0" rpy="-1.5707963267948966192313216916398 0 0" />
|
|
<parent link="wrist1_Link" />
|
|
<child link="wrist2_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="58" start_stop="107" velocity="5.1714" />
|
|
<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="81"/>
|
|
</joint>
|
|
|
|
<link name="wrist3_Link">
|
|
<inertial>
|
|
<origin xyz="-0.00068 0.0005 -0.01915" rpy="0 0 0" />
|
|
<mass value="0.379" />
|
|
<inertia ixx="0.00029" ixy="0" ixz="0" iyy="0.0003" iyz="0" izz="0.00051" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://aubo_description/meshes/aubo_iS20/visual/link6.DAE" />
|
|
</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://aubo_description/meshes/aubo_iS20/collision/link6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="wrist3_joint" type="revolute">
|
|
<origin xyz="0 -0.1083 0" rpy="1.5707963267948966192313216916398 0 1.7907E-15" />
|
|
<parent link="wrist2_Link" />
|
|
<child link="wrist3_Link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="58" start_stop="107" velocity="5.1714" />
|
|
<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="81"/>
|
|
</joint>
|
|
|
|
<link name="world" />
|
|
|
|
<joint name="world_joint" type="fixed">
|
|
<parent link="world" />
|
|
<child link = "base_link" />
|
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
|
</joint>
|
|
</robot>
|