How to use Inverse Kinematics Designer for robot model that is not URDF?

Can Inverse Kinematics Designer app, be used to to design an inverse kinematics solver for a rigidbody tree robot model?

Answer 1

[Hannes Daepp]

The Inverse Kinematics Designer works with any robot that is modeled as a Rigid Body Tree object. When you start a session, you will be asked to select a robot from the list (corresponding to the robots in our robot library) or load from the workspace. If you select "Load from Workspace", any rigid body tree objects in the workspace will be made available for use in the app.

Design inverse kinematics solvers, configurations, and waypoints - MATLAB (mathworks.com)

To create a rigid body tree object object, you import from URDF, Xacro, SDF, and Simscape Multibody models using importrobot:

Import rigid body tree model from URDF, Xacro, SDF file, text, or Simscape Multibody model - MATLAB importrobot (mathworks.com)

Additionally, if you have a different format, you may construct a rigidbodytree object yourself. See the following example for reference:

Build a Robot Step by Step - MATLAB & Simulink (mathworks.com)

[Aidan Guthrie]

Hi @Hannes Daepp,

When I create a rigid body within the MATLAB enviroment as per https://au.mathworks.com/help/robotics/ug/build-basic-rigid-body-tree-models.html,

the model when imported into the Inverse Kinematics Designer does not retain the physical volume of the object, instead it remains as a "wireframe". See images below.

.

What can I do to be able to import the entire model with the body, so the inverse kinermatic designer realises the physical limitations and collusions between each body as they move?

Thanks,

Aidan,