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 |
Using the robot with ROS
The following information concerns the Fuerte version of ROS. To get it to work properly, you might have to edit ~/.bashrc to use the corret version of ROS.
Required packages
Besides the currently installed version of ROS, the following packages should be installed using sudo apt-get install ros-fuerte-<package name>
- universal-robot (Universal robot drivers) - Provides drivers and a bringup to test the robot. Do not run the driver/test_move.py without changing the joint values. It will make the robot will smash into the wall with the standard values. (Setup the universal-robot package)
- arm_navigation (Arm navigation documentation) - For kinematics, planning and simulation. (Setup the arm_navigation package)
- moveit (New arm navigation stack) - Will replace the arm_navigation stack in future releases. (Setup MoveIt)
- industrial (Generic industrial robots package) - Not really used at the moment. Maybe usefull in Groove.
