扩展URDF格式，支持并联机器人建模。
Extended URDF: Accounting for parallel mechanism in robot description
- 在URDF中添加最小信息，支持闭链运动结构。
- 实现并联机器人高效建模，减少冗余代码。
- 适合研究复杂机械结构的机器人开发者。
机器人设计在近年进步中发挥了重要作用，提供了具备复杂机械结构的强大机器人。许多现代系统采用并联驱动以实现更轻的臂部和更复杂的运动。然而，这些新兴架构超出了大多数常用描述格式的范围，导致在设计、存储和共享模型时面临困难。本文提出对广泛使用的统一机器人描述格式（URDF）进行扩展，以支持闭链运动学结构。该方法通过在URDF中增加最少额外信息，实现复杂机器人系统的高效建模，同时保持与现有设计和仿真框架的兼容性。本方法为描述格式有效处理并联机构奠定了基础。我们通过开源并联机器人集合及生成与解析该扩展格式的工具，展示了该方法的适用性。所提扩展简化了机器人建模，减少了冗余，并提升了先进机器人应用中的可用性。
原文摘要 · Abstract (English)
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging architectures fall outside the scope of most used description formats, leading to difficulties when designing, storing, and sharing the models of these systems. This paper introduces an extension to the widely used Unified Robot Description Format (URDF) to support closed-loop kinematic structures. Our approach relies on augmenting URDF with minimal additional information to allow more efficient modeling of complex robotic systems while maintaining compatibility with existing design and simulation frameworks. This method sets the basic requirement for a description format to handle parallel mechanisms efficiently. We demonstrate the applicability of our approach by providing an open-source collection of parallel robots, along with tools for generating and parsing this extended description format. The proposed extension simplifies robot modeling, reduces redundancy, and improves usability for advanced robotic applications.
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