仿真机械臂夹爪

已于 2024-05-21 12:31:07 修改
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于 2024-05-18 16:37:38 首次发布
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本文链接：https://blog.csdn.net/sinat_38792591/article/details/139027586
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仿真夹爪与夹爪使用流程

1、创建自己的夹爪流程


//  创建新的工作空间 
mkdir -p /home/hzx/autolabor_ws/teacher_zhao/demo02_joint_ws/src
cd /home/hzx/autolabor_ws/teacher_zhao/demo02_joint_ws
catkin_make

// 创建新的项目

catkin_create_pkg urdf_rviz urdf xacro gazebo_ros gazebo_ros_control gazebo_plugins

cd urdf_rviz
mkdir launch
mkdir config
mkdir -p urdf/urdf
mkdir -p urdf/xacro
mkdir meshes

cd urdf/urdf
gedit demo01.urdf   //  填入如下内容

cd ..
cd ..
cd launch
gedit demo01.launch



<?xml version="1.0"?>
<launch>
  <!-- 在参数服务器载入 urdf 文件 -->
  <param name="robot_description" textfile="$(find urdf_rviz)/urdf/urdf/demo01.urdf" />


  <!-- 设置GUI参数，显示关节控制插件 -->
  <param name="use_gui" value="true"/>
  <!-- 启动 rviz -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find urdf_rviz)/config/view_rviz.rviz"/>

  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher"/>

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>


</launch>




<!-- demo01.urdf -->


<?xml version="1.0" encoding="utf-8"?>
<robot name="demo">
	 					
  <link name="base_link">  					
    <visual>  								
      <geometry>  							
        <box size="0.2 0.2 0.2" />      					
      </geometry>

      <origin xyz="0 0 0" rpy="0 0 0"/>

      <material name="Blue">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
  </link>


  <link name="strack_link1">  							
    <visual>							
      <geometry>  								
        <box size="0.1 0.2 0.4" />      					
      </geometry>
      <origin xyz="0.05 0 -0.2" rpy="0 0 0"/>  
      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="strack_base_joint1" type="revolute">
    <parent link="base_link"/>
    <child link="strack_link1"/>
    <origin xyz="0.1 0 -0.1" rpy="0 0 0"/>  <!-- 关节安装在父级连杆的相对位置，然后调整连杆偏移角度 -->
    <axis xyz="0 1 0"/>
    <limit lower="-1.57" upper="0" effort="100" velocity="3" />
  </joint>


  <link name="strack_link2">  							
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.4" />       					
      </geometry>
      <origin xyz="0.05 0 -0.2" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="strack_base_joint2" type="revolute">
    <parent link="base_link"/>
    <child link="strack_link2"/>
    <origin xyz="-0.1 0 -0.1" rpy="0 0 3.14"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.57" upper="0" effort="100" velocity="3" />
  </joint>


  <link name="finger_link1">  							
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.2" />       					
      </geometry>
      <origin xyz="0.05 0 -0.1" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="finger_strack_joint1" type="revolute">
    <parent link="strack_link1"/>
    <child link="finger_link1"/>
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0.5235" effort="100" velocity="3" />
  </joint>


  <link name="finger_link2">  							
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.2" />        					
      </geometry>
      <origin xyz="0.05 0 -0.1" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="finger_strack_joint2" type="revolute">
    <parent link="strack_link2"/>
    <child link="finger_link2"/>
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0" upper="0.5235" effort="100" velocity="3" />
  </joint>


</robot>

 

2、完成结果


cd /home/hzx/autolabor_ws/teacher_zhao/demo02_joint_ws
source devel/setup.bash 

roslaunch urdf_rviz demo01.launch

在这里插入图片描述
 

3、夹爪接入机械臂

3.1 同一个文件

版本一、将机械臂 与 夹爪 放在同一文件


cd /home/hzx/hzx_ws/probot_anno_03/src/probot_description/urdf/
gedit probot_anno_with_custom_gripper.xacro

// 填入如下内容：



<?xml version="1.0"?>
<robot name="probot_anno" xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:property name="base_link_length" value="0.2" />
  <xacro:property name="base_link_width" value="0.2" />
  <xacro:property name="base_link_height" value="0.2" />
  <xacro:property name="M_PI" value="3.1415926536"/>
  <xacro:include filename="$(find probot_description)/urdf/materials.urdf.xacro" />
  <!-- xacro:include filename="$(find probot_description)/urdf/custom_gripper.xacro" / -->

  <link name="world"/>

  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link="base_footprint" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>

  <link name="base_footprint" />
  <joint name="joint0" type="fixed">
    <parent link="base_footprint" />
    <child link="base_link" />
    <origin xyz="0 0 0.0532" rpy="0 0 0" />
  </joint>
    
  <link name="base_link">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.01" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0.017266 0 0.0315" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/base_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0.017266 0 0.0315" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>

  <link name="link_1">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.01" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_1.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_1" type="revolute">
    <origin xyz="0 0 0.0315" rpy="1.5708 0 0" />
    <parent link="base_link" />
    <child link="link_1" />
    <axis xyz="0 1 0" />
    <limit lower="-3.1416" upper="3.1416" effort="100" velocity="3" />
  </joint>

  <link name="link_2">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.001" />
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_2.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_2.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_2" type="revolute">
    <origin xyz="0 0.2305 0" rpy="0 0 0" />
    <parent link="link_1" />
    <child link="link_2" />
    <axis xyz="0 0 1" />
    <limit lower="-2.0071" upper="2.0071" effort="100" velocity="3" />
  </joint>

  <link name="link_3">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.001" />
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_3.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_3.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_3" type="revolute">
    <origin xyz="0 0.225 0" rpy="0 0 0" />
    <parent link="link_2" />
    <child link="link_3" />
    <axis xyz="0 0 1" />
    <limit lower="-0.6981" upper="3.8397" effort="100" velocity="3" />
  </joint>

  <link name="link_4">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.00001" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_4.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_4.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_4" type="revolute">
    <origin xyz="0.023 0 0.0" rpy="0 0 0" />
    <parent link="link_3" />
    <child link="link_4" />
    <axis xyz="1 0 0" />
    <limit lower="-3.1416" upper="3.1416" effort="100" velocity="3" />
  </joint>

  <link name="link_5">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.00001" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_5.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_5.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_5" type="revolute">
    <origin xyz="0.20585535 0 0" rpy="0 0 0" />
    <parent link="link_4" />
    <child link="link_5" />
    <axis xyz="0 0 1" />
    <limit lower="-0.7854" upper="3.9270" effort="100" velocity="3" />
  </joint>

  <link name="link_6">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.00001" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_6.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description/meshes/link_6.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_6" type="revolute">
    <origin xyz="0 -0.042 0" rpy="0 0 0" />
    <parent link="link_5" />
    <child link="link_6" />
    <axis xyz="0 -1 0" />
    <limit lower="-3.1416" upper="3.1416" effort="100" velocity="3" />
  </joint>

  <link name="tool0"/>
  <joint name="joint_tool0" type="fixed">
    <origin xyz="0 -0.013 0" rpy="${M_PI/2} 0 0" />
    <parent link="link_6" />
    <child link="tool0" />
  </joint>


  <!-- 增加自定义夹爪 -->
  <joint name="gripper_base_tool0_joint" type="fixed">
    <parent link="tool0"/>
    <child link="gripper_base_link"/>
    <origin xyz="0 0 0.12" rpy="3.14159 0 0"/>  <!-- 关节安装在父级连杆的相对位置，然后调整连杆偏移角度 -->
    <axis xyz="0 0 1"/>
    <limit lower="-1.57" upper="0" effort="100" velocity="3" />
  </joint>


  <link name="gripper_base_link">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <box size="${base_link_length} ${base_link_width} ${base_link_height}" />  
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <material name="Blue">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01241"/>
      <geometry>
        <box size="${base_link_length} ${base_link_width} ${base_link_height}" />  
      </geometry>
    </collision>
  </link>

  <link name="strack_link1">  	
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
    </inertial>						
    <visual>							
      <geometry>  								
        <box size="0.1 0.2 0.4" />      					
      </geometry>
      <origin xyz="0.05 0 -0.2" rpy="0 0 0"/>  
      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="strack_base_joint1" type="revolute">
    <parent link="gripper_base_link"/>
    <child link="strack_link1"/>
    <origin xyz="0.1 0 -0.1" rpy="0 0 0"/>  <!-- 关节安装在父级连杆的相对位置，然后调整连杆偏移角度 -->
    <axis xyz="0 1 0"/>
    <limit lower="-1.57" upper="0" effort="100" velocity="3" />
  </joint>


  <link name="strack_link2">  
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
    </inertial>								
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.4" />       					
      </geometry>
      <origin xyz="0.05 0 -0.2" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="strack_base_joint2" type="revolute">
    <parent link="gripper_base_link"/>
    <child link="strack_link2"/>
    <origin xyz="-0.1 0 -0.1" rpy="0 0 3.14"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.57" upper="0" effort="100" velocity="3" />
  </joint>


  <link name="finger_link1">  	
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
    </inertial>							
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.2" />       					
      </geometry>
      <origin xyz="0.05 0 -0.1" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="finger_strack_joint1" type="revolute">
    <parent link="strack_link1"/>
    <child link="finger_link1"/>
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0.5235" effort="100" velocity="3" />
  </joint>


  <link name="finger_link2">  
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
    </inertial>								
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.2" />        					
      </geometry>
      <origin xyz="0.05 0 -0.1" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="finger_strack_joint2" type="revolute">
    <parent link="strack_link2"/>
    <child link="finger_link2"/>
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0" upper="0.5235" effort="100" velocity="3" />
  </joint>
  



   <!-- Attach the right gripper  调用宏定义，生成夹爪模型-->
   <!-- gripper parent="tool0" color="Blue" xyz="0 0.015 0.02" rpy="0 ${-M_PI/2} ${-M_PI/2}"/ -->

  <!-- Transmissions for ROS Control -->
  <xacro:macro name="transmission_block" params="joint_name">
    <transmission name="tran1">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${joint_name}">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="motor1">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
  </xacro:macro>
  
  <xacro:transmission_block joint_name="joint_1"/>
  <xacro:transmission_block joint_name="joint_2"/>
  <xacro:transmission_block joint_name="joint_3"/>
  <xacro:transmission_block joint_name="joint_4"/>
  <xacro:transmission_block joint_name="joint_5"/>
  <xacro:transmission_block joint_name="joint_6"/>

  <xacro:transmission_block joint_name="strack_base_joint1"/>		<!-- 只需要对转动关节进行设置，固定关节不需要设置传动系统 -->
  <xacro:transmission_block joint_name="strack_base_joint2"/>
  <xacro:transmission_block joint_name="finger_strack_joint1"/>  
  <xacro:transmission_block joint_name="finger_strack_joint2"/>


  <!--xacro:include filename="$(find probot_description)/urdf/sensors/camera.urdf.xacro"/-->

  <!-- ros_control plugin -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/probot_anno</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>

<gazebo>
   <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
        <arm>
           <arm_name>zju_anno_arm</arm_name>
           <palm_link> link_5  </palm_link>
           <gripper_link>link_6</gripper_link>
           <gripper_link> gripper_active_finger_bracket_link </gripper_link>
        </arm>
       <forces_angle_tolerance>100</forces_angle_tolerance>
       <update_rate>4</update_rate>
       <grip_count_threshold>4</grip_count_threshold>
       <max_grip_count>8</max_grip_count>
       <release_tolerance>0.005</release_tolerance>
       <disable_collisions_on_attach>true</disable_collisions_on_attach>
       <contact_topic>__default_topic__</contact_topic>
    </plugin>
</gazebo>

</robot>

 

3.2 单独文件

版本二、将机械臂 与 夹爪 单独成文件


cd /home/hzx/hzx_ws/probot_anno_03/src/probot_description/urdf/
gedit probot_anno_with_custom_gripper.xacro
gedit custom_gripper.xacro 

// 分别填入如下内容：


<!-- probot_anno_with_custom_gripper.xacro   1、机械臂文件 -->

<?xml version="1.0"?>
<robot name="probot_anno" xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:property name="base_link_length" value="0.2" />
  <xacro:property name="base_link_width" value="0.2" />
  <xacro:property name="base_link_height" value="0.2" />
  <xacro:property name="M_PI" value="3.1415926536"/>
  <xacro:include filename="$(find probot_description_two_file)/urdf/materials.urdf.xacro" />
  <xacro:include filename="$(find probot_description_two_file)/urdf/custom_gripper.xacro" />

  <link name="world"/>

  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link="base_footprint" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>

  <link name="base_footprint" />
  <joint name="joint0" type="fixed">
    <parent link="base_footprint" />
    <child link="base_link" />
    <origin xyz="0 0 0.0532" rpy="0 0 0" />
  </joint>
    
  <link name="base_link">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.01" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0.017266 0 0.0315" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/base_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0.017266 0 0.0315" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>

  <link name="link_1">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.01" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_1.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_1" type="revolute">
    <origin xyz="0 0 0.0315" rpy="1.5708 0 0" />
    <parent link="base_link" />
    <child link="link_1" />
    <axis xyz="0 1 0" />
    <limit lower="-3.1416" upper="3.1416" effort="100" velocity="3" />
  </joint>

  <link name="link_2">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.001" />
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_2.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_2.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_2" type="revolute">
    <origin xyz="0 0.2305 0" rpy="0 0 0" />
    <parent link="link_1" />
    <child link="link_2" />
    <axis xyz="0 0 1" />
    <limit lower="-2.0071" upper="2.0071" effort="100" velocity="3" />
  </joint>

  <link name="link_3">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.001" />
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_3.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_3.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_3" type="revolute">
    <origin xyz="0 0.225 0" rpy="0 0 0" />
    <parent link="link_2" />
    <child link="link_3" />
    <axis xyz="0 0 1" />
    <limit lower="-0.6981" upper="3.8397" effort="100" velocity="3" />
  </joint>

  <link name="link_4">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.00001" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_4.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_4.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_4" type="revolute">
    <origin xyz="0.023 0 0.0" rpy="0 0 0" />
    <parent link="link_3" />
    <child link="link_4" />
    <axis xyz="1 0 0" />
    <limit lower="-3.1416" upper="3.1416" effort="100" velocity="3" />
  </joint>

  <link name="link_5">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.00001" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_5.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_5.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_5" type="revolute">
    <origin xyz="0.20585535 0 0" rpy="0 0 0" />
    <parent link="link_4" />
    <child link="link_5" />
    <axis xyz="0 0 1" />
    <limit lower="-0.7854" upper="3.9270" effort="100" velocity="3" />
  </joint>

  <link name="link_6">
    <inertial>
      <origin xyz="-0.010934 0.23134 0.0051509" rpy="0 0 0" />
      <mass value="0.00001" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_6.STL" />
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://probot_description_two_file/meshes/link_6.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint_6" type="revolute">
    <origin xyz="0 -0.042 0" rpy="0 0 1.57" />
    <parent link="link_5" />
    <child link="link_6" />
    <axis xyz="0 -1 0" />
    <limit lower="-3.1416" upper="3.1416" effort="100" velocity="3" />
  </joint>

  <link name="tool0"/>
  <joint name="joint_tool0" type="fixed">
    <origin xyz="0 -0.013 0" rpy="${M_PI/2} 0 0" />
    <parent link="link_6" />
    <child link="tool0" />
  </joint>

   <!-- Attach the right gripper  调用宏定义，生成夹爪模型-->
   <!-- gripper parent="tool0" color="Blue" xyz="0 0.015 0.02" rpy="0 ${-M_PI/2} ${-M_PI/2}"/ -->

  <!-- Transmissions for ROS Control -->
  <xacro:macro name="transmission_block" params="joint_name">
    <transmission name="tran1">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${joint_name}">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="motor1">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
  </xacro:macro>
  
  <xacro:transmission_block joint_name="joint_1"/>
  <xacro:transmission_block joint_name="joint_2"/>
  <xacro:transmission_block joint_name="joint_3"/>
  <xacro:transmission_block joint_name="joint_4"/>
  <xacro:transmission_block joint_name="joint_5"/>
  <xacro:transmission_block joint_name="joint_6"/>

  <xacro:transmission_block joint_name="strack_base_joint1"/>		<!-- 只需要对转动关节进行设置，固定关节不需要设置传动系统 -->
  <xacro:transmission_block joint_name="strack_base_joint2"/>
  <xacro:transmission_block joint_name="finger_strack_joint1"/>  
  <xacro:transmission_block joint_name="finger_strack_joint2"/>


  <!--xacro:include filename="$(find probot_description_two_file)/urdf/sensors/camera.urdf.xacro"/-->

  <!-- ros_control plugin -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/probot_anno</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>

<gazebo>
   <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
        <arm>
           <arm_name>zju_anno_arm</arm_name>
           <palm_link> link_5  </palm_link>
           <gripper_link>link_6</gripper_link>
           <gripper_link> gripper_active_finger_bracket_link </gripper_link>
        </arm>
       <forces_angle_tolerance>100</forces_angle_tolerance>
       <update_rate>4</update_rate>
       <grip_count_threshold>4</grip_count_threshold>
       <max_grip_count>8</max_grip_count>
       <release_tolerance>0.005</release_tolerance>
       <disable_collisions_on_attach>true</disable_collisions_on_attach>
       <contact_topic>__default_topic__</contact_topic>
    </plugin>
</gazebo>

</robot>

 

<!-- custom_gripper.xacro       2、自定义夹爪文件，注意，夹爪link均要设置惯性矩阵，否则报错 -->
 
<?xml version="1.0" encoding="utf-8"?>
<robot name="demo" xmlns:xacro="http://wiki.ros.org/xacro">		
<!-- 

	urdf 存在的问题
		1、代码复用问题- xacro 宏
		2、参数设计-xacro变量
 -->
  <!-- 1、创建变量
  <xacro:property name="wheel_radius" value="0.5" />
  <xacro:property name="wheel_length" value="0.2" />
 -->

  <!-- 2、创建宏【函数】   
  <xacro:macro name="wheel_func" params="wheel_name flag" >
    <link name="${wheel_name}_wheel" >
      <visual>

        <geometry>
          <cylinder radius="${wheel_radius}" length="${wheel_length}" />
        <geometry>

	<origin xyz="${flag*1} 0 0" rpy="0 0 0"/>

	<material>
	  <color rgba="0 0 0 0.3" />
	</material>
      </visual>
    </link>
  </xacro:macro>
-->

  <!-- 3、调用宏  
  <xacro:wheel_func wheel_name="left" flag="1" />
  -->
	
  <xacro:property name="base_link_length" value="0.2" />
  <xacro:property name="base_link_width" value="0.2" />
  <xacro:property name="base_link_height" value="0.2" />


  <joint name="gripper_base_tool0_joint" type="fixed">
    <parent link="tool0"/>
    <child link="gripper_base_link"/>
    <origin xyz="0 0 0.12" rpy="3.14159 0 0"/>  <!-- 关节安装在父级连杆的相对位置，然后调整连杆偏移角度 -->
    <axis xyz="0 0 1"/>
    <limit lower="-1.57" upper="0" effort="100" velocity="3" />
  </joint>

			
  <link name="gripper_base_link">  
    <inertial>   								
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
    </inertial>						
    <visual>  								
      <geometry>  							
        <box size="${base_link_length} ${base_link_width} ${base_link_height}" />      					
      </geometry>

      <origin xyz="0 0 0" rpy="0 0 0"/>

      <material name="Blue">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
  </link>


  <link name="strack_link1">  
    <inertial>             		   <!-- 必须设置，否则报错：This robot has a joint named "strack_base_joint1" which is not in the gazebo model.  -->
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
    </inertial>								
    <visual>							
      <geometry>  								
        <box size="0.1 0.2 0.4" />      					
      </geometry>
      <origin xyz="0.05 0 -0.2" rpy="0 0 0"/>  
      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="strack_base_joint1" type="revolute">
    <parent link="gripper_base_link"/>
    <child link="strack_link1"/>
    <origin xyz="0.1 0 -0.1" rpy="0 0 0"/>  <!-- 关节安装在父级连杆的相对位置，然后调整连杆偏移角度 -->
    <axis xyz="0 1 0"/>
    <limit lower="-1.57" upper="0" effort="100" velocity="3" />
  </joint>


  <link name="strack_link2">  
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
    </inertial>								
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.4" />       					
      </geometry>
      <origin xyz="0.05 0 -0.2" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="strack_base_joint2" type="revolute">
    <parent link="gripper_base_link"/>
    <child link="strack_link2"/>
    <origin xyz="-0.1 0 -0.1" rpy="0 0 3.14"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.57" upper="0" effort="100" velocity="3" />
  </joint>


  <link name="finger_link1">  
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
    </inertial>								
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.2" />       					
      </geometry>
      <origin xyz="0.05 0 -0.1" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="finger_strack_joint1" type="revolute">
    <parent link="strack_link1"/>
    <child link="finger_link1"/>
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0.5235" effort="100" velocity="3" />
  </joint>


  <link name="finger_link2">  
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
    </inertial>								
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.2" />        					
      </geometry>
      <origin xyz="0.05 0 -0.1" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="finger_strack_joint2" type="revolute">
    <parent link="strack_link2"/>
    <child link="finger_link2"/>
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0" upper="0.5235" effort="100" velocity="3" />
  </joint>

</robot>

 


cd /home/hzx/hzx_ws/probot_anno_03/src/probot_description/urdf/
gedit materials.urdf.xacro

// 填入如下内容


<!-- materials.urdf.xacro -->

<?xml version="1.0"?>
<robot>

  <!-- Put all the color definitions in a separate file -->

  <material name="Black">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  
   <material name="TransparentBlack">
    <color rgba="0.2 0.2 0.2 0.8"/>
  </material>

  <material name="Orange">
    <color rgba="1.0  0.55 0.0 1.0"/>
  </material>

  <material name="Grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  
  <material name="DarkGrey">
    <color rgba="0.3 0.3 0.3 1.0"/>
  </material>

  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>

  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  
  <material name="OffWhite">
    <color rgba="0.8 0.8 0.8 1.0"/>
  </material>

  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  
  <material name="TransparentGreen">
    <color rgba="0.0 0.8 0.0 0.5"/>
  </material>

</robot>

 
 

4、编写launch文件

cd /home/hzx/hzx_ws/probot_anno_03/src/probot_description_two_file/launch
gedit view_probot_anno_with_custom_gripper.launch

<!-- view_probot_anno_with_custom_gripper.launch -->

<?xml version="1.0"?>
<launch>
    <arg name="model" />
    <!-- 加载机器人模型参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find probot_description_two_file)/urdf/probot_anno_with_custom_gripper.xacro" />

    <!--   add hzx -->
    <!-- 启动 gazebo -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch" />

    <!-- 在 gazebo 中显示机器人模型 -->
    <node pkg="gazebo_ros" type="spawn_model" name="model" args="-urdf -model probot_anno -param robot_description -x 0 -y 0 -z 0.1"  />
    <!-- add hzx over -->


    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
    
    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" />

    <!-- 运行rviz可视化界面 -->
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find probot_description_two_file)/urdf.rviz" required="true" />
</launch>

 
 

5、最终结果如图所示：


// 启动launch文件
hzx@vm:~/hzx_ws/probot_anno_03$ roslaunch probot_description_two_file view_probot_anno_with_custom_gripper.launch

在这里插入图片描述

 
 

6、xacro文件检查方法

// 对xacro文件进行检查
// xacro文件路径见下图；
// 可以在如下路径下，使用如下指令进行检查。

hzx@vm:~/robot_fd/epson_robot_ws$ rosrun xacro xacro /home/hzx/robot_fd/epson_robot_ws/src/epson3/urdf/xacro/epson3_with_gripper.urdf.xacro > epson3_with_gripper.urdf

 
在这里插入图片描述

一卒2018
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因时夹爪urdf文件改写为xacro并搭配aubo_i5机械臂
qq_39568387的博客
03-16 1133
aubo_i5机械臂添加夹爪
UR10机器人仿真+夹爪+riz可视化
12-26
当尝试将夹爪与UR10机械臂连接时，可能会遇到问题。例如，在尝试`roslaunch ur_description view_ur10.launch`后，如果夹爪未能正确连接，可能需要检查Xacro文件，Xacro是一种XML扩展，用于简化URDF（Unified Robot ...
ROS建模：从零手写机械臂的URDF模型
qq_54900679的博客
03-20 1257
ROS建模：从零手写机械臂的URDF模型
给自己的机械臂添加一个夹爪
m0_62534602的博客
04-10 1207
给自己的机械臂添加一个夹爪，保留原本的机械臂模型设置
Backyard二指夹爪硬件安装与软件配置
最新发布
Time_Memory_cici的博客
07-11 537
每次要用机械臂做实验时，都要重新配置好一会，尤其这个Backyard二指夹爪，各种连接线和外接电源。找一根红蓝铜线，咬开两端，露出铜线部分，一端连接到控制盒的Power处，注意红色连接正极，蓝色连接负极。另一端连接到外接电源，同样是红色连接正极，蓝色连接负极。网线连接控制盒的LAN口和我们的笔记本，切忌另一端要连到我们的笔记本上，我经常忘记，以至于后面登陆夹爪控制页面时没有反映。安装Backyard二指夹爪，无非就三个东西：二指夹爪本体、夹爪控制盒，外接24V电源。二指夹爪通过法兰安装在UR机械臂的末端。
机械臂urdf模型修改及功能包配置
hyxxi的博客
06-01 3563
将夹爪stl模型转换成urdf模型 与原先的机械臂urdf模型合并得到新的含爪机械臂的urdf模型 并在moveit setup assistance中修改现有配置文件，得到新的功能包
robotiq夹爪部分代码查看以及仿真gazebo仿真问题
MakeYouClimax的博客
04-25 238
https://blog.csdn.net/MakeYouClimax/article/details/124282435 robotiq robotiq夹爪的显示功能包 model.xacro包含其余三个模型文件。 但是他这里没有配置 1 gazebo控制插件 2 没有为link定义gazebo 3 没有joint定义传动，只定义了1个 4 他这里的inertial被注释掉了 别人的显示功能包 最顶层的display，最顶层的是85 gripper.xacro 进去看 1 他这里有一个插件， <g
米思米电动夹爪：工业自动化中的精准执行者
2401_84242309的博客
06-05 525
​ 随着工业自动化和智能制造的快速发展，各种智能设备和机器人系统在生产线上发挥着越来越重要的作用。其中，电动夹爪https://www.misumi.com.cn/vona2/mech/M3800000000/M3803000000/M3803030000/作为机器人系统中的关键组成部分，其性能和精度直接影响到整个系统的运行效率和产品质量。 ​
由S3010舵机驱动的机械臂夹爪控制程序
刘躺的博客
05-22 2206
机械臂夹爪的控制选用了之前学习过的==正点原子==开发板 舵机型号为==S3010==，是之前搞智能车竞赛剩下的，该舵机的转角与==高电平的脉宽有关==，黑线接地，红线接电源（5V），白线为控制线。
基于python+ROS+Moveit实用UR5机械臂&AG95夹爪执行给定位姿的抓取+源码+开发文档+项目解析+仿真（优秀项目
05-13
基于python+ROS+Moveit实用UR5机械臂&AG95夹爪执行给定位姿的抓取+源码+开发文档+项目解析+仿真，适合毕业设计、课程设计、项目开发。项目源码已经过严格测试，可以放心参考并在此基础上延申使用~ 项目简介： 基于...
vrep-matlab机器人仿真--PUMA560机械臂目标抓取
03-19
PUMA560机械臂目标物块抓取系统，vrep与matlab联合仿真，有Qt写的上位机，功能有自由调整关节角、输入目标点定点移动、目标抓取等，可以将传送带上的物块夹到桌面上，适合初学者参考。 效果演示...
solidworks转urdf文件包（移动小车带手臂）
05-03
sw转urdf文件，移动小车，四个轮子带一个3自由度手臂和一个夹爪（简版）
码垛机械臂 solidworks
03-07
根据不同的应用需求，末端执行器可以是夹爪、吸盘或其他形式。在设计阶段，SolidWorks可以帮助设计者优化末端执行器的形状、尺寸和抓取力，以适应不同种类和重量的物品。 4. **控制系统**：码垛机械臂的运行依赖于...
UR机械臂夹爪，URDF文件。robotiq_85_gripper.
03-31
在本压缩包中，我们关注的是UR机械臂的夹爪部分，具体是Robotiq 85 Gripper的URDF（Unified Robot Description Format）文件。 URDF是一种基于XML的文件格式，用于描述机器人的结构、物理属性以及关节运动范围等...
基于AnyControl环境下ModBusRTU通信协议的夹爪控制算法库封装与调用
weixin_44754043的博客
07-25 1298
无
多爪抓取机械手结构设计
毕业作品网站
05-13 902
在我国的国情上的发展需要，我国还需要进行大力的发展生产制造业，实现我国的技术科技的创新发展，达到与时俱进的特色发展路线，开创更加美好的工业发展在未来的工作中，所以未来的机器手结构的发展是很有前景的。通过以上的设计要求，本次设计的欠驱动的机械手，在结构参数的设计和结构形式的选择上，优先考虑满足抓取曲轴的要求，采用机械系统实现对标杆值表面的抓取，实现智能化控制的机械传动系统的结构设计。（4）控制系统：一般机械手的搬运中，是实现自动化控制的设备，所有在控制系统的设计上，根据系统的工作要求，才有控制器来进行控制。
Gazebo11+UR10+二指夹爪仿真（Ubuntu20.04）
weixin_43710577的博客
12-30 585
Gazebo11+UR10+二指夹爪仿真（Ubuntu20.04）
gazebo+rviz配置UR5+dh_gripper（大寰）夹爪最详细教程
奋斗ing的博客
04-06 5207
UR5+dh_gripper在gazebo中配置1.urdf文件修改2.launch文件修改3.可能出现的问题 之前配置过ur5+robotiq_gripper，但是在我的仿真中机械夹爪会散架，所以我把机械夹爪换成了这个。 参考另一篇文章：https://blog.csdn.net/qq_44642372/article/details/123995916#t12 dh_gripper功能包下载：https://github.com/DH-Robotics/dh_gripper_ros 1.urdf文件修改
制作一个舵机夹爪模组【内附资料下载链接】
Robotway的博客
09-01 927
夹爪模组的主要运动模式为张开以及闭合。
ROS环境下移动操作机械臂的路径规划与仿真研究
"这篇硕士学位论文主要探讨了基于ROS(机器人操作系统)的移动操作机械臂的底层规划和运动仿真。作者钱伟在哈尔滨工业大学的研究中，针对冗余机械臂的运动学建模、ROS仿真平台的构建、高维空间的RRT（快速随机树）规划...
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