The RS015X is a six-axis industrial arm from Kawasaki’s khi_ros2-supported RS lineup. Its
own mechanical parameters (upper-arm and forearm link lengths well beyond the RS013N and
RS025N on either side of it in the model-number sequence — confirmed directly against
Kawasaki’s own mechanical_parameters.yaml for each model, not estimated) mark it as an
extended-reach variant rather than a mid-payload step between its neighbors: at rest pose
it stands taller than even the heavier-payload RS080N. The “X” suffix in Kawasaki’s own
naming is consistent with that — a reach specialization, not a payload class.
The mechanism
Six revolute joints in series — a standard vertical-articulated arm, no mimic joints or accessory mechanisms.
About these files — read before importing
This is not a URDF — Kawasaki publishes RS015X as a parameterized .xacro template shared
across its whole khi_ros2 product line, with model identity (link geometry, joint limits,
inertial data) coming from robot_series/robot_name arguments and per-model YAML config
files, not a separate file per robot. This gallery entry links directly to the official
khi_ros2 repository’s khi_description
package, configured for the RS015X, unmodified. ARMOR expands the macros itself after
downloading, so Open in ARMOR gives you a working robot — nothing here is a pre-baked
derivative of Kawasaki’s files.