COLLADA 1.5 kinematics

Other Standards COLLADA
21

Do anyone knows CAD editors which supports collada kinematics export/import. I assume CATIA has a support. Is a collada plugin for CATIA avaliable are there any other tools?

22

Hello alexey,
we have converters for DELMIA V5, D5 and Robcad / Process Simulate. ABB RobotStudio is reading/writing COLLADA kinematics and so is KUKA using KUKASim.

Sebastian

23

Hello everyone,

Is it possible to combine separate kinematics models into a new one in collada?
For example, there are two kinematics chain:
<library_kinematics_models id=“libkinmodels”>
<kinematics_model id=“kinmodel.0” name=“Mechanism.1”>
…
</kinematics_model>
<kinematics_model id=“kinmodel.1” name=“Mechanism.2”>
…
</kinematics_model>
</library_kinematics_models>

And I want to build a new one out of these two, something like:
<kinematics_model id=“kinmodel.0” name=“Mechanism.1”>
<kinematics_model id=“kinmodel.1” name=“Mechanism.2”>

Is that possible in Collada, without a building a complete new model.
Is it possible to reuse existing models to build a new ones.

Best regards,
Alexey

24

Hi there,

yes it is possible. Generally this happens when you want for example set a robot on a linear axis.

The combination means that you have one controller that controlls both kinematics. A controller is described with an articulated system.

So, all you have to do is to create an articulated system and instantiate both kinematic models.

Regards

Steffen

25

Hello Steffen. Thanks for reply.

Do you have an example collada file for such a robot? Collada specification is not detailed enough on these questions.

My idea is to describe kinematics and dynamics of different (reusable) components for a mobile manipulator, like arms, grippers, platforms and in separated data structure describe a complete system, which is built out of the reusable parts.

Best regards,
Alexey

26

can’t access this link www.netallied.de/tmp/kr360.zip.

could u post it again please

27

Some more samples are available from
http://www.opencollada.org/downloads/COLLADA_1.5.0_Samples.7z

Sebastian

28

thanks!

29

Dear all,

I’m trying to understand how geometry binds with kinematics in COLLADA files. For instance, in simple_articulated.dae there is:

<node id=“Product2.1_1” name=“Product2”>
<matrix>1 0 0 0 0 1 0 0 0 0 1 30000 0 0 0 1</matrix>
<matrix>1 -0 0 -0 -0 1 -0 0 0 -0 1 -30000 -0 0 -0 1</matrix>
<matrix>1 0 0 0 0 1 0 0 0 0 1 30000 0 0 0 1</matrix>
<rotate sid=“joint_1_axis0”>-1 -0 -0 0</rotate>
<matrix>1 -0 0 -0 -0 1 -0 0 0 -0 1 -30000 -0 0 -0 1</matrix>
<matrix>1 0 0 0 0 1 0 0 0 0 1 30000 0 0 0 1</matrix>
…

where “joint_1” is Revolute joint.
Should i use <translate> tag instead of <rotate> in case i have Prismatic joint?

Anton

30

Hi, there. The samples can not download anymore, could anyone upload it again? By the way, Does OpenRAVE support MathML? I have defined MathML formula in Collada file but it can not be loaded in OpenRAVE.

31

Hello Sebastian,
where could i find information on Catia/delmia collada convertor.

thanks in advance!

best regards,
Pankaj