UR5

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Introduction

General information

Starting the robot

Denavit-Hartenberg parameters

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:

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 MRC

Using the robot with Python