Modelo para simulación brazo MYRAbot (urdf+gazebo)

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Revision as of 11:29, 4 November 2013 by Fernando (talk | contribs) (→‎Creación del modelo URDF)

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Creación del modelo URDF

El formato empleado para el modelo del brazo está denominado por el acrónimo inglés URDF (Unified Robot Description Format), que emplea el lenguaje xml. Consiste en un arbol de lementos geométricos (links) conectados entre sí mediante uniones (joints) que determinan el parentesco entre ellos. Estas uniones puden ser fijas o móviles, las móviles pueden ser a su vez rotacionales o lineales.

Comenzaremos creando el package "brazo_fer_modelo" que va a contener el modelo de nuestro brazo, con las siguientes pedendencias: urdf brazo_fer std_msgs sensor_msgs tf roscpp

El modelo planteado para nuestro brazo es el siguiente, que guardaremos en un archivo llamado "brazo.urdf.xacro": 

<?xml version="1.0"?>

<robot name="MYRAbot_arm"
       xmlns:xi="http://www.w3.org/2001/XInclude"
       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
       xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="default_inertia">
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</xacro:macro>

<xacro:macro name="default_inertia_servos">
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
</xacro:macro>

<xacro:macro name="default_dynamics">
      <dynamics fricction="0" damping="0" />
</xacro:macro>

  <link name="world" />

  <joint name="fixed" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="0 0 1" />  
  </joint>
    
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.032 0.05 0.04"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 -0.0135 0.020"/>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.0135 0.020"/>		
	  <geometry>
        <box size="0.032 0.05 0.04"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.0135 0.020"/>			
      <mass value="0.055"/>
	  <xacro:default_inertia_servos />
    </inertial>       
  </link>

  <joint name="base" type="revolute">
    <parent link="base_link"/>
    <child link="hombro_link"/>
    <origin xyz="0 0 0.04" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit effort="30.0" lower="-2.62" upper="2.62" velocity="2"/>
	<xacro:default_dynamics />          
  </joint>
  
  <link name="hombro_link">
    <visual>
      <geometry>
        <box size="0.04 0.032 0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.020"/>
      <material name="black" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.020"/>		
	  <geometry>
        <box size="0.04 0.032 0.05"/>
      </geometry>       
    </collision> 
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.020"/>			
      <mass value="0.055"/>
	  <xacro:default_inertia_servos />
    </inertial>        
  </link>  

  <joint name="arti1" type="revolute">
    <parent link="hombro_link"/>
    <child link="brazo_link"/>  
    <origin xyz="0 0 0.0385" rpy="0 0 0" />
	<axis xyz="1 0 0" />
    <limit effort="30.0" lower="-2.62" upper="2.62" velocity="2"/> 
	<xacro:default_dynamics />        
  </joint>
  
  <!--brazo-->
  
  <link name="brazo_link">
    <visual>
      <geometry>
        <box size="0.04 0.032 0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0905"/>
      <material name="black" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0905"/>		
	  <geometry>
        <box size="0.04 0.032 0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0905"/>		
      <mass value="0.055"/>
	  <xacro:default_inertia_servos />
    </inertial>             
  </link>
  
  <joint name="servo_arti1_B" type="fixed">
    <parent link="brazo_link"/>
    <child link="brazo_link_B"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="brazo_link_B">    
	<visual>
      <geometry>
        <box size="0.04 0.032 0.015"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.058"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.058"/>		
	  <geometry>
        <box size="0.04 0.032 0.015"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.058"/>			
      <mass value="0.001"/>
	  <xacro:default_inertia />
    </inertial>           
  </link>
  
  <joint name="servo_arti1_D" type="fixed">
    <parent link="brazo_link"/>
    <child link="brazo_link_SI"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="brazo_link_SI">    
	<visual>
      <geometry>
        <box size="0.002 0.032 0.067"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.021 0 0.022"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.021 0 0.022"/>		
	  <geometry>
        <box size="0.002 0.032 0.067"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.021 0 0.022"/>			
      <mass value="0.001"/>
	  <xacro:default_inertia />
    </inertial>           
  </link>
  
  <joint name="servo_arti1_I" type="fixed">
    <parent link="brazo_link"/>
    <child link="brazo_link_SD"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="brazo_link_SD">    
	<visual>
      <geometry>
        <box size="0.002 0.032 0.067"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.021 0 0.022"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.021 0 0.022"/>		
	  <geometry>
        <box size="0.002 0.032 0.067"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.021 0 0.022"/>			
      <mass value="0.001"/>
	  <xacro:default_inertia />
    </inertial>            
  </link>  
  
  <joint name="arti2" type="revolute">
    <parent link="brazo_link"/>
    <child link="antebrazo_link"/>
    <origin xyz="0 0 0.104" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <limit effort="30.0" lower="-2.62" upper="2.62" velocity="2"/> 
	<xacro:default_dynamics />            
  </joint>
  
  <!--antebrazo-->
  
  <link name="antebrazo_link">
    <visual>
      <geometry>
        <box size="0.04 0.032 0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0905"/>
      <material name="black" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0905"/>		
	  <geometry>
        <box size="0.04 0.032 0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0905"/>		
      <mass value="0.055"/>
 	  <xacro:default_inertia_servos />
    </inertial>             
  </link>  
  
  <joint name="servo_arti2_B" type="fixed">
    <parent link="antebrazo_link"/>
    <child link="antebrazo_link_B"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="antebrazo_link_B">    
	<visual>
      <geometry>
        <box size="0.04 0.032 0.015"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.058"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.058"/>		
	  <geometry>
        <box size="0.04 0.032 0.015"/>
      </geometry>
    </collision> 
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.058"/>		
      <mass value="0.001"/>
	  <xacro:default_inertia />
    </inertial>        
  </link>
  
  <joint name="servo_arti2_D" type="fixed">
    <parent link="antebrazo_link"/>
    <child link="antebrazo_link_SI"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="antebrazo_link_SI">    
	<visual>
      <geometry>
        <box size="0.002 0.032 0.067"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.021 0 0.022"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.021 0 0.022"/>		
	  <geometry>
        <box size="0.002 0.032 0.067"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.021 0 0.022"/>				
      <mass value="0.001"/>
	  <xacro:default_inertia />
    </inertial>             
  </link>
  
  <joint name="servo_arti2_I" type="fixed">
    <parent link="antebrazo_link"/>
    <child link="antebrazo_link_SD"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="antebrazo_link_SD">    
	<visual>
      <geometry>
        <box size="0.002 0.032 0.067"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.021 0 0.022"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.021 0 0.022"/>		
	  <geometry>
        <box size="0.002 0.032 0.067"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.021 0 0.022"/>		
      <mass value="0.001"/>
 	  <xacro:default_inertia />
    </inertial>           
  </link>    

  <joint name="arti3" type="revolute">
    <parent link="antebrazo_link"/>
    <child link="muneca_link"/>
    <origin xyz="0 0 0.104" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <limit effort="1000.0" lower="-2.62" upper="2.62" velocity="2"/> 
	<xacro:default_dynamics />             
  </joint>
  
  <!--muneca-->
  
  <link name="muneca_link">
    <visual>
      <geometry>
        <box size="0.05 0.04 0.032"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.00625 0 0.06"/>
      <material name="black" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.00625 0 0.06"/>		
	  <geometry>
        <box size="0.05 0.04 0.032"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.00625 0 0.06"/>			
      <mass value="0.055"/>
	  <xacro:default_inertia_servos />
    </inertial>            
  </link>  
  
  <joint name="servo_arti3_B" type="fixed">
    <parent link="muneca_link"/>
    <child link="muneca_link_B"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="muneca_link_B">    
	<visual>
      <geometry>
        <box size="0.05325 0.04 0.005"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.004625 0 0.0415"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.004625 0 0.0415"/>		
	  <geometry>
        <box size="0.05325 0.04 0.005"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.004625 0 0.0415"/>		
      <mass value="0.0005"/>
	  <xacro:default_inertia />
    </inertial>              
  </link>
  
  <joint name="servo_arti3_D" type="fixed">
    <parent link="muneca_link"/>
    <child link="muneca_link_SI"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="muneca_link_SI">    
	<visual>
      <geometry>
        <box size="0.002 0.032 0.0555"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.021 0 0.01625"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.021 0 0.01625"/>		
	  <geometry>
        <box size="0.002 0.032 0.0555"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.021 0 0.01625"/>		
      <mass value="0.0005"/>
	  <xacro:default_inertia />
    </inertial>           
  </link>
  
  <joint name="servo_arti3_I" type="fixed">
    <parent link="muneca_link"/>
    <child link="muneca_link_SD"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="muneca_link_SD">    
	<visual>
      <geometry>
        <box size="0.002 0.032 0.0555"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.021 0 0.01625"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.021 0 0.01625"/>		
	  <geometry>
        <box size="0.002 0.032 0.0555"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.021 0 0.01625"/>			
      <mass value="0.0005"/>
	  <xacro:default_inertia />
    </inertial>            
  </link>
  
  <joint name="servo_arti3_P" type="fixed">
    <parent link="muneca_link"/>
    <child link="muneca_link_P"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <!--pinza izquierda fija-->
  
  <link name="muneca_link_P">    
	<visual>
      <geometry>
        <box size="0.002 0.04 0.092"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.03425 0 0.090"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.03425 0 0.090"/>		
	  <geometry>
        <box size="0.002 0.04 0.092"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.03425 0 0.090"/>			
      <mass value="0.001"/>
	  <xacro:default_inertia />
    </inertial>           
  </link>
  
  <joint name="servo_arti3_PS" type="fixed">
    <parent link="muneca_link"/>
    <child link="muneca_link_PS"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>
  
  <link name="muneca_link_PS">    
	<visual>
      <geometry>
        <box size="0.002 0.04 0.032"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.03225 0 0.060"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.03225 0 0.060"/>		
	  <geometry>
        <box size="0.002 0.04 0.032"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.03225 0 0.060"/>			
      <mass value="0.0005"/>
	  <xacro:default_inertia />
    </inertial>            
  </link>             
  
  <joint name="pinza" type="revolute">
    <parent link="muneca_link"/>
    <child link="pinza_link"/>
    <origin xyz="-0.00725 0 0.06" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit effort="30.0" lower="-2.62" upper="2.62" velocity="2"/>
	<xacro:default_dynamics />     
  </joint>
  
  <!--pinza-->
  
  <link name="pinza_link">    
	<visual>
      <geometry>
        <box size="0.002 0.04 0.092"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.027 0 0.030"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.027 0 0.030"/>		
	  <geometry>
        <box size="0.002 0.04 0.092"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.027 0 0.030"/>		
      <mass value="0.001"/>
 	  <xacro:default_inertia />
    </inertial>           
  </link>  
  
  <joint name="servo_pinza_B" type="fixed">
    <parent link="pinza_link"/>
    <child link="pinza_link_B"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="pinza_link_B">    
	<visual>
      <geometry>
        <box size="0.002 0.04 0.032"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.025 0 0"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.025 0 0"/>		
	  <geometry>
        <box size="0.002 0.04 0.032"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.025 0 0"/>		
      <mass value="0.0005"/>
	  <xacro:default_inertia />
    </inertial>           
  </link>
  
  <joint name="servo_pinza_D" type="fixed">
    <parent link="pinza_link"/>
    <child link="pinza_link_SI"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="pinza_link_SI">    
	<visual>
      <geometry>
        <box size="0.0375 0.002 0.032"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.00725 0.021 0"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.00725 0.021 0"/>		
	  <geometry>
        <box size="0.0375 0.002 0.032"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00725 0.021 0"/>			
      <mass value="0.0005"/>
	  <xacro:default_inertia />
    </inertial>        
  </link>
  
  <joint name="servo_pinza_I" type="fixed">
    <parent link="pinza_link"/>
    <child link="pinza_link_SD"/>  
    <origin xyz="0 0 0" rpy="0 0 0" />
	<axis xyz="1 0 0" />    
  </joint>  
  
  <link name="pinza_link_SD">    
	<visual>
      <geometry>
        <box size="0.0375 0.002 0.032"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.00725 -0.021 0"/>
      <material name="white">
		<color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.00725 -0.021 0"/>		
	  <geometry>
        <box size="0.0375 0.002 0.032"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00725 -0.021 0"/>			
      <mass value="0.0005"/>
	  <xacro:default_inertia />
    </inertial>            
  </link>
     
</robot>
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