Thank you for your reply!
I already have the STP file from Staubli.
Posts by h8476532
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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"
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
}
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
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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
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I want to make a TCP client for unity and a TCP server for staubli robot arm, but I don't have experience with it.
I have already imported my robot arm 3d model in the unity, and I am using c# SOAP to control my staubli robot.
Can anyone give me some advice on it?
Best regards.
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Hello!
I'm new to Val3 and Staubli Robotics.For a school project, our lab buys a Robotiq 2f -85 gripper, now we want to use rs485 to rs232 converter to plug into the cs8c controller, but our lab only uses SOAP (Simple Object Access Protocol) to control the robot, we don't have the experience in using teach pendant to control the robot.
So how can I use the teach pendant to connect between the cs8c controller and robotiq 2f -85 gripper?
Any help, please.
Thank you!
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