UR5机械臂三维模型转URDF格式资源包,含Gazebo与Matlab仿真支持文件

上传者: vim8coder | 上传时间: 2026-05-27 17:23:07 | 文件大小: 6.05MB | 文件类型: ZIP
这个资源包提供UR5机械臂从SolidWorks导出的三维模型转换而成的标准化URDF描述文件,已适配ROS环境。包含完整的link几何模型(base_link.STL及Link1~Link6.STL)、URDF主文件(ur5_sw2urdf.urdf)、关节配置参数(joint_names_ur5_sw2urdf.yaml)、启动脚本(display.launch用于RViz可视化,gazebo.launch用于Gazebo物理仿真),以及标准ROS功能包结构(CMakeLists.txt、package.xml、config/、launch/、urdf/、meshes/等目录)。所有STL网格文件已按URDF规范命名并放置在meshes子目录下,纹理文件存于textures目录。可直接导入ROS工作空间,通过roslaunch命令一键启动RViz或Gazebo仿真界面,适用于机器人运动学验证、路径规划测试及控制器开发。Matlab Robotics System Toolbox也可通过urdfimport函数加载该URDF文件进行算法仿真。

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