The KR 6 R900 sixx is a compact six-axis arm from KUKA’s Agilus family — 6 kg payload, 901 mm reach, built for fast pick-and-place, assembly, and machine tending in cells where floor space is at a premium. It sits one size class up from the tabletop-scale KR 3 R540, still small enough for close-quarters work but with meaningfully more reach and payload.
The mechanism
Six revolute joints in series give the arm its six degrees of freedom, all independently actuated — no mimic joints or accessory mechanisms are part of this description.
About these files — read before importing
KUKA does not publish a URDF for the KR 6 R900 sixx. 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.