analyticIn​verseKinem​atic(robot​) : No valid kinematic groups found

Hello everyone , I am trying a robot 'JAKA'. The model is build by solidworks and made as urdf. I used imporrobot to my matlab. When I use analytical

robot = importrobot('Zu 5拖动.SLDASM.urdf');

robot.DataFormat = 'column';

showdetails(robot)

show(robot);

%%

aik = analyticalInverseKinematics(robot);

showdetails(aik)

--------------------

Robot: (6 bodies)

Index Base Name EE Body Name Type Actions

----- --------- ------------ ---- -------

No valid kinematic groups were found.

here is the urdf

<?xml version="1.0" encoding="utf-8"?>

<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([e-mail])

Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578

For more information, please see http://wiki.ros.org/sw_urdf_exporter -->

<robot

name="Zu 5拖动.SLDASM">

<link

name="base_link">

<inertial>

<origin

xyz="0.00096514 1.4523E-07 -0.039005"

rpy="0 0 0" />

<mass

value="0.51456" />

<inertia

ixx="0.00062122"

ixy="3.5203E-09"

ixz="3.2179E-06"

iyy="0.00086631"

iyz="-1.7781E-10"

izz="0.0013527" />

</inertial>

<visual>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/base_link.STL" />

</geometry>

<material

name="">

<color

rgba="1 1 1 1" />

</material>

</visual>

<collision>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/base_link.STL" />

</geometry>

</collision>

</link>

<link

name="link1">

<inertial>

<origin

xyz="-0.0028802 0.0016567 0.010078"

rpy="0 0 0" />

<mass

value="1.9282" />

<inertia

ixx="0.0055277"

ixy="6.6575E-05"

ixz="-1.6595E-06"

iyy="0.0056051"

iyz="9.6367E-07"

izz="0.0038887" />

</inertial>

<visual>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link1.STL" />

</geometry>

<material

name="">

<color

rgba="1 1 1 1" />

</material>

</visual>

<collision>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link1.STL" />

</geometry>

</collision>

</link>

<joint

name="joint1"

type="revolute">

<origin

xyz="0 0 0.05"

rpy="0 0 0" />

<parent

link="base_link" />

<child

link="link1" />

<axis

xyz="0 0 1" />

<limit

lower="-1.507"

upper="1.507"

effort="0"

velocity="3.14" />

</joint>

<link

name="link2">

<inertial>

<origin

xyz="0.215004032141501 -1.70664149061472E-06 0.143143796429021"

rpy="0 0 0" />

<mass

value="5.8404000828608" />

<inertia

ixx="0.0132172411065059"

ixy="-4.52434003078879E-08"

ixz="-3.7468541965423E-08"

iyy="0.0305877160441601"

iyz="5.32492793717312E-08"

izz="0.0270802855555693" />

</inertial>

<visual>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link2.STL" />

</geometry>

<material

name="">

<color

rgba="1 1 1 1" />

</material>

</visual>

<collision>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link2.STL" />

</geometry>

</collision>

</link>

<joint

name="joint2"

type="revolute">

<origin

xyz="0 0 0.01159"

rpy="-1.5708 -0.42496 1.0486" />

<parent

link="link1" />

<child

link="link2" />

<axis

xyz="0 0 1" />

<limit

lower="-1.507"

upper="1.507"

effort="0"

velocity="3.14" />

</joint>

<link

name="link3">

<inertial>

<origin

xyz="0.190915764722818 -4.07561617134233E-06 0.0105860497516908"

rpy="0 0 0" />

<mass

value="2.30132258930575" />

<inertia

ixx="0.00252190552863958"

ixy="-3.04325005231565E-07"

ixz="0.00207395456620463"

iyy="0.0214799120537863"

iyz="-4.07266309713162E-08"

izz="0.0210544506719235" />

</inertial>

<visual>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link3.STL" />

</geometry>

<material

name="">

<color

rgba="1 1 1 1" />

</material>

</visual>

<collision>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link3.STL" />

</geometry>

</collision>

</link>

<joint

name="joint3"

type="revolute">

<origin

xyz="0.43 0 0"

rpy="0 0 0.15848" />

<parent

link="link2" />

<child

link="link3" />

<axis

xyz="0 0 1" />

<limit

lower="-1.507"

upper="1.507"

effort="0"

velocity="3.14" />

</joint>

<link

name="link4">

<inertial>

<origin

xyz="0.00580029532732423 1.71861622266789E-07 -0.002672016412474"

rpy="0 0 0" />

<mass

value="0.707387393667367" />

<inertia

ixx="0.000659712143433493"

ixy="2.4021956947218E-09"

ixz="-5.0743481467394E-05"

iyy="0.000903598863822185"

iyz="7.7852513862115E-09"

izz="0.000872946154442263" />

</inertial>

<visual>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link4.STL" />

</geometry>

<material

name="">

<color

rgba="1 1 1 1" />

</material>

</visual>

<collision>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link4.STL" />

</geometry>

</collision>

</link>

<joint

name="joint4"

type="revolute">

<origin

xyz="0.36851 0 0.114"

rpy="0 0 0.98983" />

<parent

link="link3" />

<child

link="link4" />

<axis

xyz="0 0 1" />

<limit

lower="-1.0472"

upper="3.14"

effort="0"

velocity="3.14" />

</joint>

<link

name="link5">

<inertial>

<origin

xyz="-0.0416167701998802 -2.14156856248593E-07 -0.00234242207908369"

rpy="0 0 0" />

<mass

value="0.806935241831566" />

<inertia

ixx="0.000744727249669707"

ixy="7.47029446372042E-10"

ixz="5.47928151095072E-06"

iyy="0.00164589538209367"

iyz="7.5480693554719E-09"

izz="0.00160865691857277" />

</inertial>

<visual>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link5.STL" />

</geometry>

<material

name="">

<color

rgba="1 1 1 1" />

</material>

</visual>

<collision>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link5.STL" />

</geometry>

</collision>

</link>

<joint

name="joint5"

type="revolute">

<origin

xyz="0.1135 0.028712 -0.02599"

rpy="1.5708 0.73568 1.5708" />

<parent

link="link4" />

<child

link="link5" />

<axis

xyz="0 0 1" />

<limit

lower="-3.14"

upper="3.14"

effort="0"

velocity="3.14" />

</joint>

<link

name="link6">

<inertial>

<origin

xyz="-2.90671251432228E-05 1.00947249533911E-05 -0.00297288778895549"

rpy="0 0 0" />

<mass

value="0.180494513787609" />

<inertia

ixx="9.0957032191393E-05"

ixy="-2.37391404607372E-07"

ixz="1.05156587429873E-07"

iyy="9.21406427094874E-05"

iyz="-1.91039479729075E-07"

izz="0.000143814491216129" />

</inertial>

<visual>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link6.STL" />

</geometry>

<material

name="">

<color

rgba="1 1 1 1" />

</material>

</visual>

<collision>

<origin

xyz="0 0 0"

rpy="0 0 0" />

<geometry>

<mesh

filename="package://Zu 5拖动.SLDASM/meshes/link6.STL" />

</geometry>

</collision>

</link>

<joint

name="joint6"

type="revolute">

<origin

xyz="0.05 0 0"

rpy="1.5708 -0.023469 1.5708" />

<parent

link="link5" />

<child

link="link6" />

<axis

xyz="0 0 1" />

<limit

lower="-3.14"

upper="3.14"

effort="0"

velocity="3.14" />

</joint>

</robot>

Answer 1

[Varun]

Hi, maybe this can help- https://www.mathworks.com/matlabcentral/answers/688879-no-valid-kinematic-groups-were-found.