Robot Configurations

Axes

Six

Six

Types of Configuration

Name

UR_UR5_Like

SphericalWrist_SixAxis

Description

6 axis collaborative robot

Common split-ball type wrist industrial robot

Illustrations

DH Specification
../../../_images/robot_configuration1.png
../../../_images/robot_configuration2.png

Reference frame and axis No.
../../../_images/robot_configuration3.png
../../../_images/robot_configuration4.png

Interpretation

0: Reference frame 10; 1: Reference frame 10; 2: Reference frame 2; 3: Reference frame 3;

4: Reference frame 4; 5: Reference frame 5; 6: Reference frame 6;

0: Reference frame 10; 1: Reference frame 10; 2: Reference frame 2; 3: Reference frame 3;

4: Reference frame 4; 5: Reference frame 5; 6: Reference frame 6;

[robot]_algo example

 
{
 "algo_type": "UR_UR5_Like",
 "robot_type": "UR_16E",
 "dh": [ A, B, D, G, F, H ],
 "shoulder_offset": C,
 "elbow_offset": E,
 "min_limits": [ J1 min, J2 min, J3 min, J4 min, J5 min, J6 min ],
 "max_limits": [ J1 max, J2 max, J3 max, J4 max, J5 max, J6 max ],
 "mastering_joints": [ J1, J2, J3, J4, J5, J6 ],     # Unnecessary
 "axis_flip": "J1J2J3J4J5J6"                   # Unnecessary
}

{
 "algo_type": "SphericalWrist_SixAxis",
 "robot_type": "KAWASAKI_CX110L",
 "dh": [ A, B, C, D, E, F ],
 "min_limits": [ J1 min, J2 min, J3 min, J4 min, J5 min, J6 min ],
 "max_limits": [ J1 max, J2 max, J3 max, J4 max, J5 max, J6 max ],
 "mastering_joints": [ J1, J2, J3, J4, J5, J6 ], # Unnecessary
 "axis_flip": "J1J2J3J4J5J6"                  # Unnecessary
}