B Robot Dh Parameter; Ur3; Ur5; Ur10 - Universal Robots CB3 Kinematic Calibration Manual
Hide thumbs
Also See for CB3:
- Manual (25 pages) ,
- User manual (223 pages) ,
- Original instructions manual (193 pages)
Table of Contents
Advertisement
B. Robot DH Parameter
B Robot DH Parameter
The robots kinematic transformations for each link are given by Denavite-Hartenberg(DH) parameters.
B.1 UR3
Table B.1: Denavit-Hartenberg parameters for the UR3 robot
B.2 UR5
r a d
a m
Joint 1:
0
0
Joint 2:
0
0.42500
Joint 3:
0
0.39243
Joint 4:
0
0
Joint 5:
0
0
Joint 6:
0
0
Table B.2: Denavit-Hartenberg parameters for the
UR5 serie 1
Table B.4: Denavit-Hartenberg parameters for the UR5 serie 3.
B.3 UR10
Table B.5: Denavit-Hartenberg parameters for the UR10 robot
24
r a d
a m
Joint 1:
0
0
Joint 2:
0
0.2437
Joint 3:
0
0.2133
Joint 4:
0
0
Joint 5:
0
0
Joint 6:
0
0
d m
r a d
0.08920
2
0
0
0
0
0.10900
2
0.09300
2
0.08200
0
r a d
a m
Joint 1:
0
0
Joint 2:
0
0.42500
Joint 3:
0
0.39225
Joint 4:
0
0
Joint 5:
0
0
Joint 6:
0
0
r a d
a m
Joint 1:
0
0
Joint 2:
0
0.6127
Joint 3:
0
0.5716
Joint 4:
0
0
Joint 5:
0
0
Joint 6:
0
0
d m
r a d
0.118
2
0
0
0
0
0.1124
2
0.0854
2
0.0819
0
r a d
a m
Joint 1:
0
0
Joint 2:
0
0.42500
Joint 3:
0
0.39225
Joint 4:
0
0
Joint 5:
0
0
Joint 6:
0
0
Table B.3: Denavit-Hartenberg parameters for the
UR5 serie 2
d m
r a d
0.089159
2
0
0
0
0
0.10915
2
0.09465
2
0.08230
0
d m
r a d
0.118
2
0
0
0
0
0.1639
2
0.1157
2
0.0922
0
d m
r a d
0.08920
2
0
0
0
0
0.11000
2
0.09475
2
0.08250
0
Hide quick links:
Advertisement
Table of Contents
