YuMi (IRB 14000) is ABB’s dual-arm collaborative robot — two independent 7-axis arms designed to work directly alongside people on small-parts assembly rather than behind a safety fence. Padded arm covers, rounded edges, and force-limited motion are all part of the same “human-safe” design brief; this description carries the arms’ kinematics and geometry, not the padding or force-limiting itself.
The mechanism
Fourteen revolute joints — seven per arm — give YuMi’s arms their degrees of freedom, one more per arm than the six a single manipulator strictly needs, the extra joint buying the same obstacle-threading flexibility Franka’s arm gets from its own seventh axis. All fourteen are independently actuated — no mimic joints or closed loops.
A caveat worth knowing: the real YuMi ships with a parallel-jaw servo gripper on each
wrist. This particular upstream file — named yumi_nogrippers.urdf.xacro by its own
authors — describes the arms only, without them.
About these files — read before importing
ABB does not publish a URDF for YuMi, and ROS-Industrial’s own abb repository has never
added support for it either. This links directly to
ethz-asl/yumi, a fork of the description originally
written at Örebro University’s AASS Research Center in Sweden. ARMOR links directly to
that repository rather than re-hosting anything, so what you get is exactly what’s
published there, unmodified.
