<?xml version="1.0" encoding="utf-8"?>
<!-- AR2010 URDF - joint parameters from ros-industrial/motoman (melodic-devel) -->
<!-- Source: https://github.com/ros-industrial/motoman -->
<robot name="ar2010">

  <link name="base_link"/>

  <joint name="joint_s" type="revolute">
    <parent link="base_link"/>
    <child link="link_s"/>
    <origin xyz="0 0 0.505" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="0" velocity="3.66519"/>
  </joint>
  <link name="link_s"/>

  <joint name="joint_l" type="revolute">
    <parent link="link_s"/>
    <child link="link_l"/>
    <origin xyz="0.150 0 0" rpy="1.5708 -1.5708 -3.14159"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.83260" upper="2.70526" effort="0" velocity="3.31613"/>
  </joint>
  <link name="link_l"/>

  <joint name="joint_u" type="revolute">
    <parent link="link_l"/>
    <child link="link_u"/>
    <origin xyz="0.760 0 0" rpy="3.14159 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.50098" upper="2.79253" effort="0" velocity="3.31613"/>
  </joint>
  <link name="link_u"/>

  <joint name="joint_r" type="revolute">
    <parent link="link_u"/>
    <child link="link_r"/>
    <origin xyz="0.200 -1.082 0" rpy="-1.5708 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.61799" upper="2.61799" effort="0" velocity="7.59218"/>
  </joint>
  <link name="link_r"/>

  <joint name="joint_b" type="revolute">
    <parent link="link_r"/>
    <child link="link_b"/>
    <origin xyz="0 0 0" rpy="1.5708 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.35619" upper="1.57080" effort="0" velocity="7.59218"/>
  </joint>
  <link name="link_b"/>

  <joint name="joint_t" type="revolute">
    <parent link="link_b"/>
    <child link="link_t"/>
    <origin xyz="0 -0.100 0" rpy="-1.5708 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.66519" upper="3.66519" effort="0" velocity="12.2173"/>
  </joint>
  <link name="link_t"/>

  <!-- 토치 TCP: 와이어 팁 525mm 오프셋 -->
  <joint name="joint_tcp" type="fixed">
    <parent link="link_t"/>
    <child link="tcp"/>
    <origin xyz="0 0 0.525" rpy="0 0 0"/>
  </joint>
  <link name="tcp"/>

</robot>
