UR5
From Rsewiki
The Universal Robot in 326/005 can be controlled in several different ways. The aim of this page is to collect and present the most relevant data regarding the robot arm.
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 |
