Load rigid body tree robot model



robotRBT = loadrobot(robotname) loads a robot model as a rigidBodyTree object based on the specified robot name. To import your own robot model as a URDF file or Simscape™ Multibody™ model, see importrobot

[robotRBT,metaData] = loadrobot(robotname) returns additional information about the source of the robot model in metaData.

[robotRBT,metaData] = loadrobot(robotname,Name,Value) specifies additional options for the returned rigid body tree model.


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This example shows how to load an included robot using loadrobot. Specify one of the select robot names to get a rigidBodyTree robot model that contains kinematic and dynamic constraints and visual meshes for the robot geometry.

gen3 = loadrobot("kinovaGen3");

Visualize the robot model.


Input Arguments

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Name of robot model, specified as a string scalar or character vector. Available robot models are:

  • "abbIrb120" –– ABB IRB 120 6-axis robot

  • "abbIrb120T" –– ABB IRB 120T 6-axis robot

  • "kinovaGen3" –– KINOVA® Gen3 robot

  • "kinovaJacoJ2N6S200" –– KINOVA JACO® 2-fingered 6 DOF robot with non-spherical wrist

  • "kinovaJacoJ2N6S300" –– KINOVA JACO® 3-fingered 6 DOF robot with non-spherical wrist

  • "kinovaJacoJ2N7S300" –– KINOVA JACO® 3-fingered 7 DOF robot with non-spherical wrist

  • "kinovaJacoJ2S6S300" –– KINOVA JACO® 3-fingered 6 DOF robot with spherical wrist

  • "kinovaJacoJ2S7S300" –– KINOVA JACO® 3-fingered 7 DOF robot with spherical wrist

  • "kinovaJacoTwoArmExample" –– Two KINOVA JACO® 3 Fingered 6 DOF robots with non-spherical wrist

  • "kinovaMicoM1N4S200" –– KINOVA MICO® 4 DOF 2-fingered robot

  • "kinovaMicoM1N6S200" –– KINOVA MICO® 6 DOF 2-fingered robot

  • "kinovaMicoM1N6S300" –– KINOVA MICO® 6 DOF 3-fingered robot

  • "rethinkBaxter" –– Rethink Robotics Baxter 2-armed robot

  • "willowgaragePR2" ––Willow Garage PR2 2-armed robot

Data Types: char | string

Name-Value Pair Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: "Gravity",[0 0 -9.81] sets the gravity property to -9.8 m/s in the z-direction for the robot model.

Input/output data format for kinematics and dynamics functions of robot model, robotRBT, specified as "struct", "row", or "column". To use dynamics functions, you must use either "row" or "column".

Gravitational acceleration experienced by robot, specified as an [x y z] vector in meters per second squared. Each element corresponds to the acceleration of the base robot frame in that direction.

Output Arguments

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Robot rigid body tree model, returned as a rigidBodyTree object. This model contains all the kinematic and dynamic constraints based on the robot source files specified in metaData. Some models also contain visual meshes for visualizing robot trajectories.

Robot model source information, returned as a structure. The structure contains the fields:

  • RobotName –– Name of the returned robot model.

  • FilePath –– File path of the Unified Robot Description Format (URDF) file that is used to create the rigid body tree model.

  • Source –– URL for source of the robot model.

Data Types: struct

Introduced in R2019b