urClientRigidBodyTree

Load rigid body tree model of Universal Robots UR Series cobot

Since R2026a

Syntax

rbt = urClientRigidBodyTree(cobotname)

Description

rbt = urClientRigidBodyTree(cobotname) loads the rigid body tree model of the Universal Robots UR Series cobot specified by cobotname.

Examples

Load Rigid Body Tree Model

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)

Input Arguments

cobotname — Name of the Universal Robots UR Series cobot

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

Version History

Introduced in R2026a