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完成机械臂仿真

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Quella
2026-02-24 23:06:50 +08:00
parent 23b51d404e
commit 35407812af
12 changed files with 236 additions and 42 deletions
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32
simulation_ws/robotic_arm/urdf/robotic_arm.urdf.xacro
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@@ -1,15 +1,12 @@
<?xml version="1.0"?>
<robot name="robotic_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find robotic_arm)/urdf/materials.xacro" />
<link name="world" />
<joint name="world_to_base" type="fixed">
<parent link="world" />
<child link="base_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="base_link">
<visual>
<geometry>
@@ -30,7 +27,6 @@
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
</link>
<joint name="joint1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
@@ -40,7 +36,6 @@
<dynamics damping="0.1" friction="0.1" />
</joint>
<link name="link1">
<visual>
<geometry>
@@ -61,8 +56,6 @@
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.003" />
</inertial>
</link>
<joint name="joint2" type="revolute">
<parent link="link1" />
<child link="link2" />
@@ -72,8 +65,6 @@
<dynamics damping="0.1" friction="0.1" />
</joint>
<link name="link2">
<visual>
<geometry>
@@ -94,8 +85,6 @@
<inertia ixx="0.003" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.002" />
</inertial>
</link>
<joint name="joint3" type="revolute">
<parent link="link2" />
<child link="link3" />
@@ -104,8 +93,6 @@
<limit lower="-1.5708" upper="1.5708" effort="80" velocity="1.0" />
<dynamics damping="0.1" friction="0.1" />
</joint>
<link name="link3">
<visual>
<geometry>
@@ -126,8 +113,6 @@
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001" />
</inertial>
</link>
<joint name="joint4" type="revolute">
<parent link="link3" />
<child link="link4" />
@@ -136,8 +121,6 @@
<limit lower="-3.14159" upper="3.14159" effort="50" velocity="1.5" />
<dynamics damping="0.05" friction="0.05" />
</joint>
<link name="link4">
<visual>
<geometry>
@@ -158,8 +141,6 @@
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
</inertial>
</link>
<joint name="joint5" type="revolute">
<parent link="link4" />
<child link="link5" />
@@ -168,8 +149,6 @@
<limit lower="-1.5708" upper="1.5708" effort="30" velocity="1.5" />
<dynamics damping="0.05" friction="0.05" />
</joint>
<link name="link5">
<visual>
<geometry>
@@ -190,7 +169,6 @@
<inertia ixx="0.0005" ixy="0" ixz="0" iyy="0.0005" iyz="0" izz="0.0003" />
</inertial>
</link>
<joint name="joint6" type="revolute">
<parent link="link5" />
<child link="link6" />
@@ -199,8 +177,6 @@
<limit lower="-3.14159" upper="3.14159" effort="20" velocity="2.0" />
<dynamics damping="0.05" friction="0.05" />
</joint>
<link name="link6">
<visual>
<geometry>
@@ -221,25 +197,17 @@
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
</link>
<joint name="end_effector_fixed" type="fixed">
<parent link="link6" />
<child link="end_effector" />
<origin xyz="0 0 0.06" rpy="0 0 0" />
</joint>
<link name="end_effector" />
<gazebo>
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
<parameters>$(find robotic_arm)/config/controllers.yaml</parameters>
</plugin>
</gazebo>
<gazebo reference="base_link">
<material>Gazebo/Grey</material>
</gazebo>