Does anyone have the Staubli TX60L XML file or the URDF file that can open in Matlab simscape?
I want to do some simulations in Matlab, but I do not have the correct XML file I can use.
Thank you
Best
Does anyone have the Staubli TX60L XML file or the URDF file that can open in Matlab simscape?
I want to do some simulations in Matlab, but I do not have the correct XML file I can use.
Thank you
Best
Hello, what do you mean by XML file? What exactly do you need?
I have a JSON file with the offset between joints, and it's possible to get the robot's Denavit–Hartenberg parameters of the robot.
Not sure if this is what you are looking for.
{
"name": "Tx60l",
"root": {
"name": "base",
"nodes": [
{
"name": "j1",
"offset": "T(0mm,0mm,210mm)",
"axis": "Vz(1mm)",
"type": "rotoid",
"minimum": "-180°",
"maximum": "180°",
"geometries": [
{
"name": "ShowHardStop",
"type": "cad",
"visibility": "ShowHardStop",
"path": "J1_HS.xcgm"
},
{
"name": "j1",
"type": "cad",
"path": "J1.xcgm"
}
],
"nodes": [
{
"name": "j2",
"offset": "T(0mm,117.35mm,165mm)",
"axis": "Vy(1mm)",
"type": "rotoid",
"minimum": "-127.5°",
"maximum": "127.5°",
"geometries": [
{
"name": "ShowUlLamp",
"type": "cad",
"visibility": "ShowUlLamp",
"path": "J2_UL_L.xcgm"
},
{
"name": "j2_l",
"type": "cad",
"path": "J2_L.xcgm"
}
],
"nodes": [
{
"name": "j3",
"offset": "T(0mm,0.25mm,400mm)",
"axis": "Vy(1mm)",
"type": "rotoid",
"minimum": "-152.5°",
"maximum": "152.5°",
"geometries": [
{
"name": "j3",
"type": "cad",
"path": "J3.xcgm"
}
],
"nodes": [
{
"name": "j4",
"offset": "T(0mm,-97.6mm,90mm)",
"axis": "Vz(1mm)",
"type": "rotoid",
"minimum": "-270°",
"maximum": "270°",
"geometries": [
{
"name": "j4_l",
"type": "cad",
"path": "J4_L.xcgm"
}
],
"nodes": [
{
"name": "j5",
"offset": "T(0mm,0mm,360mm)",
"axis": "Vy(1mm)",
"type": "rotoid",
"minimum": "-122.5°",
"maximum": "132.5°",
"geometries": [
{
"name": "j5",
"type": "cad",
"path": "J5.xcgm"
}
],
"nodes": [
{
"name": "j6",
"offset": "T(0mm,0mm,70mm)",
"axis": "Vz(1mm)",
"type": "rotoid",
"minimum": "-18000°",
"maximum": "18000°",
"geometries": [
{
"name": "j6",
"type": "cad",
"path": "J6.xcgm",
"offset": "T(0mm,0mm,-70mm)"
}
],
"nodes": [
{
"name": "flange",
"offset": "T(0mm,0mm,0mm)",
"type": "fixed",
"behaviors": [
{
"type": "frameContainer",
"name": "FrameContainer",
"frames": [
{
"kind": "handler",
"name": "Flange"
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
}
Display MoreHello, what do you mean by XML file? What exactly do you need?
I have a JSON file with the offset between joints, and it's possible to get the robot's Denavit–Hartenberg parameters of the robot.
Not sure if this is what you are looking for.
{
"name": "Tx60l",
"root": {
"name": "base",
"nodes": [
{
"name": "j1",
"offset": "T(0mm,0mm,210mm)",
"axis": "Vz(1mm)",
"type": "rotoid",
"minimum": "-180°",
"maximum": "180°",
"geometries": [
{
"name": "ShowHardStop",
"type": "cad",
"visibility": "ShowHardStop",
"path": "J1_HS.xcgm"
},
{
"name": "j1",
"type": "cad",
"path": "J1.xcgm"
}
],
"nodes": [
{
"name": "j2",
"offset": "T(0mm,117.35mm,165mm)",
"axis": "Vy(1mm)",
"type": "rotoid",
"minimum": "-127.5°",
"maximum": "127.5°",
"geometries": [
{
"name": "ShowUlLamp",
"type": "cad",
"visibility": "ShowUlLamp",
"path": "J2_UL_L.xcgm"
},
{
"name": "j2_l",
"type": "cad",
"path": "J2_L.xcgm"
}
],
"nodes": [
{
"name": "j3",
"offset": "T(0mm,0.25mm,400mm)",
"axis": "Vy(1mm)",
"type": "rotoid",
"minimum": "-152.5°",
"maximum": "152.5°",
"geometries": [
{
"name": "j3",
"type": "cad",
"path": "J3.xcgm"
}
],
"nodes": [
{
"name": "j4",
"offset": "T(0mm,-97.6mm,90mm)",
"axis": "Vz(1mm)",
"type": "rotoid",
"minimum": "-270°",
"maximum": "270°",
"geometries": [
{
"name": "j4_l",
"type": "cad",
"path": "J4_L.xcgm"
}
],
"nodes": [
{
"name": "j5",
"offset": "T(0mm,0mm,360mm)",
"axis": "Vy(1mm)",
"type": "rotoid",
"minimum": "-122.5°",
"maximum": "132.5°",
"geometries": [
{
"name": "j5",
"type": "cad",
"path": "J5.xcgm"
}
],
"nodes": [
{
"name": "j6",
"offset": "T(0mm,0mm,70mm)",
"axis": "Vz(1mm)",
"type": "rotoid",
"minimum": "-18000°",
"maximum": "18000°",
"geometries": [
{
"name": "j6",
"type": "cad",
"path": "J6.xcgm",
"offset": "T(0mm,0mm,-70mm)"
}
],
"nodes": [
{
"name": "flange",
"offset": "T(0mm,0mm,0mm)",
"type": "fixed",
"behaviors": [
{
"type": "frameContainer",
"name": "FrameContainer",
"frames": [
{
"kind": "handler",
"name": "Flange"
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
}
Thank you for your reply! but I think the JSON file will not work, but they have some tutorials to convert the urdf file to the XML file, so if anyone has the urdf file, it will be helpful for me.
The XML format file that is created by Solidworks add-on tool: simscape.
To export to Matlab/Simulink to simulation need the XML file of the robot arm.
Best
Would step file work?
Thank you for your reply!
I already have the STP file from Staubli.
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