UR5: Difference between revisions
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===Starting the robot=== | ===Starting the robot=== | ||
===Denavit-Hartenberg parameters=== | ===Denavit-Hartenberg parameters=== | ||
All values used for inertia and kinematics calculation can be found in the [https://kforge.ros.org/ros_industrial/universal_robot/file/9cf86ac2fc46/ur5_description/urdf/model.urdf.xacro ROS Model] data file. | |||
The most important DH parameters are listed here for reference: | |||
{| class="wikitable" | |||
|+ Denavit-Hartenberg parameters | |||
|- | |||
! Joint !! Type !! a !! α !! d !! θ !! Offset | |||
|- | |||
| 1 || Revolute || 0.00000 || π/2 || 0.089159 || q1 || 0.00 | |||
|- | |||
| 2 || Revolute || -0.42500 || 0.00 || 0.00000 || q2 || -π/2 | |||
|- | |||
| 3 || Revolute || -0.39225 || 0.00 || 0.00000 || q3 || 0.00 | |||
|- | |||
| 4 || Revolute || 0.00000 || π/2 || 0.10915 || q4 || -π/2 | |||
|- | |||
| 5 || Revolute || 0.00000 || -π/2 || 0.09465 || q5 || 0.00 | |||
|- | |||
| 6 || Revolute || 0.00000 || 0.00 || 0.0823 || q6 || 0.00 | |||
|} | |||
==Using the robot with ROS== | ==Using the robot with ROS== | ||
Revision as of 14:54, 11 December 2012
Introduction
General information
Starting the robot
All values used for inertia and kinematics calculation can be found in the ROS Model data file.
The most important DH parameters are listed here for reference:
| Joint | Type | a | α | d | θ | Offset |
|---|---|---|---|---|---|---|
| 1 | Revolute | 0.00000 | π/2 | 0.089159 | q1 | 0.00 |
| 2 | Revolute | -0.42500 | 0.00 | 0.00000 | q2 | -π/2 |
| 3 | Revolute | -0.39225 | 0.00 | 0.00000 | q3 | 0.00 |
| 4 | Revolute | 0.00000 | π/2 | 0.10915 | q4 | -π/2 |
| 5 | Revolute | 0.00000 | -π/2 | 0.09465 | q5 | 0.00 |
| 6 | Revolute | 0.00000 | 0.00 | 0.0823 | q6 | 0.00 |
