机器人模型导入MATLAB（三）：导入MATLAB URDF/stl 格式

一．将URDF模型导入MATLAB

robot = importrobot('xxxxxxx.urdf')

show(robot)

二．将STL模型导入MATLAB

 

1.下载 STL File Reader

https://ww2.mathworks.cn/matlabcentral/fileexchange/22409-stl-file-reader

2.准备STL文件

3.导入并显示

fig = figure;

fv = stlread('arm_link1.stl');

patch(fv,'FaceColor', [0.8 0.8 1.0], ...

'EdgeColor', 'none', ...

'FaceLighting', 'gouraud', ...

'AmbientStrength', 0.15);

% Add a camera light, and tone down the specular highlighting

camlight('headlight');

material('dull');

axis([-0.04 0.04 -0.08 0.08 -0.06 0.06]);

view([-135 35]);

title('模型原始零件');

xlabel('X[m]');ylabel('Y[m]');zlabel('Z[m]');

% Fix the axes scaling, and set a nice view angle

axis('image');view([-135 35]);

% hold on;