URDF

URDF

URDF stands for Unified Robot Description Format, which is an XML format used for describing and modeling robots. It is a standardized format that allows for the creation of a unified robot model description. The robot description is set up using URDF, which provides a way to represent the robot model in a structured and organized manner.From: A Systematic Approach to Learning Robot Programming with ROS [2017], Automation of product packaging for industrial applications [2018]

Low-Level Control

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Published in Wyatt S. Newman, A Systematic Approach to Learning Robot Programming with ROS, 2017

Wyatt S. Newman

As described within a URDF file, a robot model consists of a collection (a tree) of robot links, connected pair-wise via joints. Each joint allows a single degree of freedom of motion: a rotation or a translation. Either type of motion may be referred to generically as a displacement. Displacement commands are input to low-level servo controllers, which exert torques or forces (generically referred to as efforts) to attempt to achieve a desired state. The desired state is comprised of desired displacements, possibly augmented by desired velocities, possibly further augmented by desired accelerations. The controller compares the desired state to the actual (measured) state to derive a control effort, to be imposed by the respective actuator.

Automation of product packaging for industrial applications

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Journal Information

Published in International Journal of Computer Integrated Manufacturing, 2018

C. Perez-Vidal, L. Gracia, J. M. de Paco, M. Wirkus, J. M. Azorin, J. de Gea

A Robot Operating System (ROS) platform over Ubuntu has been used for the experiments developed in this work. ROS provides libraries and tools to help software developers to create robot applications as well as the services of an operating system: hardware abstraction, low-level device control, etc. In order to communicate the CAN modules (Schunk modules and robot hands) via a PCAN-USB interface, the ROS package libpcan, LibPCan (2016), has been used. Other ROS packages that have been used are schunk_powercube_chain, RosPCANdrivers (2016) and schunk_hardware_config. The robot description is set up using URDF (Unified Robot Description Format, URDF 2016), which is an XML format for representing a robot model.

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Low-Level Control

Automation of product packaging for industrial applications