Authors :
Raghul T.; Nagalaxman G.; Anbarasi M. P.
Volume/Issue :
Volume 8 - 2023, Issue 11 - November
Google Scholar :
https://tinyurl.com/msat7zu3
Scribd :
https://tinyurl.com/494zabmj
DOI :
https://doi.org/10.5281/zenodo.10100293
Abstract :
Unified Robot Description Format (URDF)
integration of mechanical designs from SolidWorks,
a well-known computer-aided design (CAD) software,
into the Robot Operating System (ROS) ecosystem is
essential for seamless robotic simulations and control. In
order to bridge the gap between SolidWorks CAD
models and ROS-compatible URDF files, this paper
presents a thorough methodology for the
conversion process. Exporting SolidWorks models,
comprehending the structure and syntax of URDF,
defining links, joints, visual, and collision properties, and
integrating transformational and inertial data are all
necessary steps in the procedure. Within the URDF
framework, particular focus is placed on precisely
positioning joints and defining their axes of motion. The
resulting URDF files make it possible to precisely
represent robotic structures, making it easier to
simulate, analyze, and control robotic environments that
are powered by ROS. Case studies and useful insights
demonstrate. This conversion process' accuracy and
efficiency demonstrate how it can be used in a variety of
robotic applications.
Keywords :
SolidWorks, URDF, ROS, CAD, Robot, Modelling, Simulation, Interoperability, Integration, Conversion.
Unified Robot Description Format (URDF)
integration of mechanical designs from SolidWorks,
a well-known computer-aided design (CAD) software,
into the Robot Operating System (ROS) ecosystem is
essential for seamless robotic simulations and control. In
order to bridge the gap between SolidWorks CAD
models and ROS-compatible URDF files, this paper
presents a thorough methodology for the
conversion process. Exporting SolidWorks models,
comprehending the structure and syntax of URDF,
defining links, joints, visual, and collision properties, and
integrating transformational and inertial data are all
necessary steps in the procedure. Within the URDF
framework, particular focus is placed on precisely
positioning joints and defining their axes of motion. The
resulting URDF files make it possible to precisely
represent robotic structures, making it easier to
simulate, analyze, and control robotic environments that
are powered by ROS. Case studies and useful insights
demonstrate. This conversion process' accuracy and
efficiency demonstrate how it can be used in a variety of
robotic applications.
Keywords :
SolidWorks, URDF, ROS, CAD, Robot, Modelling, Simulation, Interoperability, Integration, Conversion.
