matlab手搓urdf

一般是在solidworks 画好图纸导出urdf 再导入到matlab中。但是，我不会用solidworks 。。。。

只能手搓urdf ，从官网看到的urdf文件基本内容，绿色的是可选项。

• 第一个link默认是base，与世界坐标系相连，其上表面是地面

• 每个link的frame 位于连杆中心，其大小和方向相对于上一个link的末端而言的

• 每个joint的位置相对于上一个joint而言的，方向按照世界坐标系方向

（感觉好奇怪啊。。。。但是建出来的效果确实符合上边的规则）

下面是一个三关节模型urdf例子

<robot name = "dof3">
	<!-- links section -->>
	<link name = "base">
		<inertial>
			<origin xyz = "0 0 0" />
			<mass value = "0.5" />
			<inertia ixx = "0.5" iyy = "0.5" izz = "0.5" 
ixy = "0" ixz = "0" iyz = "0" />
		</inertial>
		<visual>
			<origin xyz = "0 0 0" />
			<geometry>
				<box size = "0.5 0.5 0.05"  />
			</geometry>
			<material name = "gray A">
				<color rgba = "0.1 0.1 0.1 1" />
			</material>
		</visual>
	</link>
	<link name = "link 1">
		<inertial>
			<origin xyz = "0 0 0.1" rpy= "0 0 0"/>
			<mass value = "0.5" />
			<inertia ixx = "0.5" iyy = "0.5" izz = "0.5" 
	ixy = "0" ixz = "0" iyz = "0" />
		</inertial>
		<visual>
			<origin xyz = "0 0 0.1" rpy="0 0 0"/>
			<geometry>
				<cylinder radius = "0.04" length = "0.2"  />
			</geometry>
			<material name = "gray B">
				<color rgba = "0.3 0.3 0.3 1" />
			</material>
		</visual>
	</link>
	<link name = "link 2">
		<inertial>
			<origin xyz = "0 0.1 0" rpy = "1.57 0 0 "/>
			<mass value = "0.5" />
			<inertia ixx = "0.5" iyy = "0.5" izz = "0.5" 
	ixy = "0" ixz = "0" iyz = "0" />
		</inertial>
		<visual>
			<origin xyz = "0 0.1 0" rpy = "1.57 0 0" />
			<geometry>
				<cylinder radius = "0.04" length = "0.2"  />
			</geometry>
			<material name = "gray C">
				<color rgba = "0.5 0.5 0.5 1" />
			</material>
		</visual>
	</link>
    <link name = "link 3">
		<inertial>
			<origin xyz = "0 0.1 0" rpy = "1.57 0 0 "/>
			<mass value = "0.5" />
			<inertia ixx = "0.5" iyy = "0.5" izz = "0.5" 
	ixy = "0" ixz = "0" iyz = "0" />
		</inertial>
		<visual>
			<origin xyz = "0 0.1 0" rpy = "1.57 0 0" />
			<geometry>
				<cylinder radius = "0.04" length = "0.2"  />
			</geometry>
			<material name = "gray C">
				<color rgba = "0.5 0.5 0.5 1" />
			</material>
		</visual>
	</link>
	<!-- joints section -->>
    <joint name = "joint A" type = "continuous">
        <parent link = "base" />
        <child link = "link 1" />
        <origin xyz = "0 0 0" />
        <axis xyz = "0 0 1" />
    </joint>

    <joint name = "joint B" type = "continuous">
        <parent link = "link 1" />
        <child link = "link 2" />
        <origin xyz = "0 0 0.2" />
        <axis xyz = "1 0 0" />
        <dynamics damping ="0.002" />
    </joint>
     <joint name = "joint C" type = "continuous">
        <parent link = "link 2" />
        <child link = "link 3" />
        <origin xyz = "0 0.2 0" />
        <axis xyz = "1 0 0" />
        <dynamics damping ="0.002" />
    </joint>
</robot>

效果：

导入：

robot= importrobot('dof3.urdf');
robot.Gravity = [0,0,-9.81];
robot.DataFormat = 'column';
q=[0,0,pi/2]'
show(robot,q)

注：需要最后接一个小小的虚杆，求运动学的时候需要用到

p_tform = getTransform(robot,q0,'linkEnd')
%linkEnd 是最后虚杆的fram， 意思是 虚杆frame相对世界坐标系的转换矩阵