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Load rigid body tree model of Universal Robots UR Series cobot
Since R2026a
rbt = urClientRigidBodyTree(cobotname)
rbt = urClientRigidBodyTree(cobotname) loads the rigid body tree model of the Universal Robots UR Series cobot specified by cobotname.
cobotname
example
collapse all
Load the rigid body tree model of the cobot.
rbt = urClientRigidBodyTree('universalUR10e');
Obtain end-effector name and number of joints from the rigid body tree model.
EndEffectorName = rbt.BodyNames{end}; NumberOfJoints = numel(rbt.Bodies)
universalUR10
universalUR10e
universalUR16e
universalUR3
universalUR3e
universalUR5
universalUR5e
Name of the Universal Robots UR Series cobot for which you want to load the rigid body tree model.
Data Types: string
string
Introduced in R2026a
urRTDEClient
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