UR5

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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.

Contents


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

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>

Using the robot with MRC

Using the robot with Python

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