Robot Configurations

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Axes Six Six

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
Reference frame and axis No.
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;
[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 }`

Types of Configuration

Name

UR_UR5_Like

SphericalWrist_SixAxis

Description

6 axis collaborative robot

Common split-ball type wrist industrial robot

Illustrations

DH Specification

robot configuration1

robot configuration2

Reference frame and axis No.

robot configuration3

robot configuration4

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;

[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
}

Robot Configurations

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