Bridge Gateway for Solid Works to URDF and Integration with Robot Operating System

Authors : Raghul T.; Nagalaxman G.; Anbarasi M. P.

Volume/Issue : Volume 8 - 2023, Issue 11 - November

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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.


Paper Submission Last Date
31 - December - 2023

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