The KR 16-2 is a mid-size six-axis arm from KUKA’s long-running KR series — a common sight on factory floors for welding, material handling, and machine tending since well before collaborative robots existed. It isn’t KUKA’s newest hardware, but its lineage continues directly in the current KR CYBERTECH series, which occupies the same payload class.
The mechanism
Six revolute joints in series give the arm its six degrees of freedom — the standard layout for reaching an arbitrary position and orientation in its workspace. All six are independently actuated; no mimic joints or accessory mechanisms are part of this description.
About this file — read before importing
KUKA does not publish a URDF for the KR 16-2. This links directly to kuka_experimental, the ROS-Industrial community project that maintains description and driver packages for industrial robots ROS needs to talk to. It’s a careful third-party engineering model, not a file KUKA itself ships or verifies — treat it as accurate enough to visualize and plan around, and check KUKA’s own data sheets before relying on it for anything load-bearing.
ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what ROS-Industrial publishes, unmodified.