C Robot Parameter; Ur5; Ur10 - Universal Robots CB3 Manual
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Also See for CB3:
- Kinematic calibration manual (26 pages) ,
- User manual (223 pages) ,
- Original instructions manual (193 pages)
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C Robot Parameter
C.1 UR5
The robots kinematic transformations for each link are given by Denavite-Hartenberg parameters. The parame-
ters for UR5 is displayed in tabel C.1 to C.3.
Table C.1: Denavit-Hartenberg parameters for the UR5 serie 1.
Table C.2: Denavit-Hartenberg parameters for the UR5 serie 2.
Table C.3: Denavit-Hartenberg parameters for the UR5 serie 3.
C.2 UR10
Table C.4: Denavit-Hartenberg parameters for the UR10 robot serie 1.
r a d
a m
Joint 1:
0
Joint 2:
0
0.42500
Joint 3:
0
0.39243
Joint 4:
0
Joint 5:
0
Joint 6:
0
r a d
a m
Joint 1:
0
Joint 2:
0
0.42500
Joint 3:
0
0.39225
Joint 4:
0
Joint 5:
0
Joint 6:
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
Joint 2:
0
0.6127
Joint 3:
0
0.5716
Joint 4:
0
Joint 5:
0
Joint 6:
0
d m
r a d
0
0.08920
2
0
0
0
0
0
0.10900
2
0
0.09300
2
0
0.08200
0
d m
r a d
0
0.08920
2
0
0
0
0
0
0.11000
2
0
0.09475
2
0
0.08250
0
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
0.118
2
0
0
0
0
0
0.1639
2
0
0.1157
2
0
0.0922
0
C. Robot Parameter
23
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