Basic Configurations

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UR_UR5_Like six-axis collaborative robot (similar to UR5)

Axes

Six

Configuration name

UR_UR5_Like

Description

Six-axis collaborative robot similar to UR5

DH parameters

robot configuration ur 1

Reference frame and axis No.

robot configuration ur 2

Correlation between link and reference frame

0: Reference frame 0

1: Reference frame 1

2: Reference frame 2

3: Reference frame 3

4: Reference frame 4

5: Reference frame 5

6: Reference frame 6

Classification of axes

Wrist: 5, 6, 4

Forearm: 3

Upper arm: 2

Base: 0, 1

Robot model list

UR, TM, ELITE, AUBO, JAKA, SINSUN collaborative robots, DOBOT collaborative robots

[robot]_algo example

{
	"algo_type": "UR_UR5_Like",
	#DH parameters [meter]
	"dh": [ A, B, D, G, F, H ],
	"shoulder_offset": C,
	"elbow_offset": E,
	#joint limits [degree]
	"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 ],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5J6",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

Painting_SixAxis (six-axis spray painting robot)

Axes

Six

Configuration name

Painting_SixAxis

Description

Six-axis spray painting robot

DH parameters

robot configuration painting 1

Reference frame and axis No.

robot configuration painting 2

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3

4: Reference frame 4

5: Reference frame 5

6: Reference frame 6

Classification of axes

Wrist: 5, 6, 4

Forearm: 3

Upper arm: 2

Base: 0, 1

Robot model list

Yaskawa MPX3500, EFORT GR6150 1500

[robot]_algo example

{
	"algo_type": "Painting_SixAxis",
	#DH parameters [meter]
	"dh": [ A, B, C, D, E, F, N, P ],
	#joint limits [degree]
	"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 ],
	"link3_dynamic_limits": [Min, Max],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5J6",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

SphericalWrist_SixAxis (common industrial six-axis spherical wrist robot)

Axes

Six

Configuration name

SphericalWrist_SixAxis

Description

Common industrial six-axis spherical wrist robot

DH parameters

robot configuration sphericalwrist 1

Reference frame and axis No.

robot configuration sphericalwrist 2

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3

4: Reference frame 4

5: Reference frame 5

6: Reference frame 6

A0: Reference frame 2

A1: Reference frame A1

Classification of axes

Wrist: 5, 6

Forearm: 3, 4

Upper arm: 2, A1

Base: 0, 1, A0

Robot model list

Yaskawa MPX3500, EFORT GR6150 1500 Kawasaki CX110L, ABB IRB6700 150-320, FANUC R-2000iC 210F, FANUC M-900iB 700, YASKAWA GP400, Kawasaki MX series

[robot]_algo example

{
	"algo_type": "SphericalWrist_SixAxis",
	#DH parameters [meter]
	"dh": [ A, B, C, D, E, F ],
	"dhPassive": [ A1X, A1Z, B0X, B0Z, B2X, B2Z ],
	#joint limits [degree]
	"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 ],
	"link3_dynamic_limits": [Min, Max],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5J6",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

SphericalWrist_SixAxis (six-axis spherical wrist robot with positive X-direction and Z-direction offsets (G, D) on the J3)

Axes

Six

Configuration name

SphericalWrist_SixAxis_KAWASAKI_BX250L_Like

Description

Six-axis spherical wrist robot with positive X-direction and Z-direction offsets (G, D) on the J3

DH parameters

robot configuration sphericalwrist kawasaki 1

Reference frame and axis No.

robot configuration sphericalwrist kawasaki 2

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3

4: Reference frame 4

5: Reference frame 5

6: Reference frame 6

B0: Reference frame B0

B1: Reference frame B1

Classification of axes

Wrist: 5, 6, 4

Forearm: 3

Upper arm: 2, B0, B1

Base: 0, 1

Robot model list

KAWASAKI BX250L, 300L, 200X

[robot]_algo example

{
	"algo_type": "SphericalWrist_SixAxis_KAWASAKI_BX250L_Like",
	#DH parameters [meter]
	"dh": [ A, B, C, D, G, E, F ],
	"dhPassive": [ A1X, A1Z, B0X, B0Z, B2X, B2Z ],
	#joint limits [degree]
	"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 ],
	"link3_dynamic_limits": [Min, Max],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5J6",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

SphericalWrist_SixAxis_STAUBLI_TX2_60_Like (six-axis spherical wrist robot with a positive Y-direction offset (H) on the J3)

Axes

Six

Configuration name

SphericalWrist_SixAxis_STAUBLI_TX2_60_Like

Description

Six-axis spherical wrist robot with a positive Y-direction offset on the J3

DH parameters

robot configuration sphericalwrist staubli 1

Reference frame and axis No.

robot configuration sphericalwrist staubli 2

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3

4: Reference frame 4

5: Reference frame 5

6: Reference frame 6

Classification of axes

Wrist: 5, 6

Forearm: 3, 4

Upper arm: 2

Base: 0, 1

Robot model list

STAUBLI TX2-60

[robot]_algo example

{
	"algo_type": "SphericalWrist_SixAxis_STAUBLI_TX2_60_Like",
	#DH parameters [meter]
	"dh": [ A, B, C, D, E, F, H ],
	"dhPassive": [ A1X, A1Z, B0X, B0Z, B2X, B2Z ],
	#joint limits [degree]
	"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 ],
	"link3_dynamic_limits": [Min, Max],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5J6",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

SphericalWrist_FiveAxis (similar to the six-axis spherical wrist robot with J4 not able to roll)

Axes

Five

Configuration name

SphericalWrist_FiveAxis

Description

Similar to the six-axis spherical wrist robot with J4 not able to roll

DH parameters

robot configuration sphericalwrist fiveaxis 1

Reference frame and axis No.

robot configuration sphericalwrist fiveaxis 2

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3

4: Reference frame 4

5: Reference frame 5

A0: Reference frame 2

A1: Reference frame A1

Classification of axes

Wrist: 4, 5

Forearm: 3

Upper arm: 2, A1

Base: 0, 1, A0

Robot model list

YASKAWA MPL80II, FANUC M-410iB 140H

[robot]_algo example

{
	"algo_type": "SphericalWrist_FiveAxis",
	#DH parameters [meter]
	"dh": [ A, B, C, D, E, F ],
	"dhPassive": [ A1X, A1Z, B0X, B0Z, B2X, B2Z ],
	#joint limits [degree]
	"min_limits": [ J1 min, J2 min, J3 min, J4 min, J5 min ],
	"max_limits": [ J1 max, J2 max, J3 max, J4 max, J5 max ],
	"link3_dynamic_limits": [Min, Max],
	"link4_dynamic_limits": [Min, Max],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4, J5 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4J5",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

Palletizer (four-axis palletizing robot)

Axes

Four

Configuration name

Palletizer

Description

Four-axis palletizing robot

DH parameters

robot configuration four palletizer 1

Reference frame and axis No.

robot configuration four palletizer 2

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3

4: Reference frame 4

5: Reference frame 5

A0: Reference frame 2

A1: Reference frame A1

B0: Reference frame B0

B1: Reference frame 3

B2: Reference frame B2

Classification of axes

Wrist: 4, 5

Forearm: 3, B2, B1

Upper arm: 2, A1, B0

Base: 0, 1, A0

Robot model list

YASKAWA MPL80II, FANUC M-410iB 140H ABB IRB660 180 315, FANUC M-410iC 110, YASKAWA MPL800II

[robot]_algo example

{
	"algo_type": "Palletizer",
	#DH parameters [meter]
	"dh": [ A, B, C, E, K, F ],
	"dhPassive": [ A1X, A1Z, B0X, B0Z, B2X, B2Z ],
	#joint limits [degree]
	"min_limits": [ J1 min, J2 min, J3 min, J4 min ],
	"max_limits": [ J1 max, J2 max, J3 max, J4 max ],
	"link3_dynamic_limits": [Min, Max],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

Palletizer_KAWASAKI_CP180L_Like (four-axis palletizing robot with a positive Z-direction offset (D) on the J3)

Axes

Four

Configuration name

Palletizer_KAWASAKI_CP180L_Like

Description

Four-axis palletizing robot with a positive Z-direction offset (D) on the J3

DH parameters

robot configuration four kawasaki 1

Reference frame and axis No.

robot configuration four kawasaki 2

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3

4: Reference frame 4

5: Reference frame 5

B0: Reference frame B0

B1: Reference frame 3

B2: Reference frame B2

Classification of axes

Wrist: 4, 5

Forearm: 3, B2, B1

Upper arm: 2, B0

Base: 0, 1

Robot model list

KAWASAKI CP130L, 180L, 300L, 500L, 700L, FANUC M-410iB 450

[robot]_algo example

{
"algo_type": "Palletizer_KAWASAKI_CP180L_Like",
	#DH parameters [meter]
	"dh": [ A, B, C, D, E, K, F ],
	"dhPassive": [ A1X, A1Z, B0X, B0Z, B2X, B2Z ],
	#joint limits [degree]
	"min_limits": [ J1 min, J2 min, J3 min, J4 min ],
	"max_limits": [ J1 max, J2 max, J3 max, J4 max ],
	"link3_dynamic_limits": [Min, Max],
	#joint positions at standard pose [degree]
	"mastering_joints": [ J1, J2, J3, J4 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

Scara_FourAxis_Translation_1st (four-axis palletizing robot with a positive Z-direction offset (D) on the J3)

Axes

Four

Configuration name

Scara_FourAxis_Translation_1st

Description

Four-axis SCARA robots with axis 1 as translation axis

DH parameters

robot configuration four scara 1

Reference frame and axis No.

robot configuration four scara 2

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3

4: Reference frame 4

Classification of axes

Wrist: 4

Forearm: 3

Upper arm: 2

Base: 0, 1

Robot model list

HITBOT Z-Arm 2442

[robot]_algo example

{
	"algo_type": "Scara_FourAxis_Translation_1st",
	#DH parameters [meter]
	"dh": [ A, B, C, D, E ],
	#joint limits [millimeter,degree,degree,degree]
	"min_limits": [ J1 min, J2 min, J3 min, J4 min ],
	"max_limits": [ J1 max, J2 max, J3 max, J4 max ],
	#joint positions at standard pose [meter,degree,degree,degree]
	"mastering_joints": [ J1, J2, J3, J4 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

Scara_FourAxis (four-axis SCARA robots)

Axes

Four

Configuration name

Scara_FourAxis

Description

Four-axis SCARA

DH parameters

robot configuration four scara adtech 1

Reference frame and axis No.

robot configuration four scara adtech 2

Correlation between link and reference frame

0: Reference frame 0, 1

1: Reference frame 0, 1

2: Reference frame 2

3: Reference frame 3

Classification of axes

Wrist: 3

Forearm: 2

Upper arm: 1

Base: 0

Robot model list

ADTECH AR6215

[robot]_algo example

{
	"algo_type": "Scara_FourAxis",
	#DH parameters [meter]
	"dh": [ A, B, C, D, E ],
	#joint limits [degree,degree,millimeter,degree]
	"min_limits": [ J1 min, J2 min, J3 min, J4 min ],
	"max_limits": [ J1 max, J2 max, J3 max, J4 max ],
	#joint positions at standard pose [degree,degree,meter,degree]
	"mastering_joints": [ J1, J2, J3, J4 ],
	#joint orientations [0/1]
	"axis_flip": "J1J2J3J4",
	#robot base location [meter,meter,meter,degree,degree,degree]. If robot has not been moved, robot base frame equals to World frame.
	"robot_frame_in_robot_base_frame": [ x, y, z, rx, ry, rz ],
	#robot flange frame orientation [x/y/z]
	"flange_frame_orientation": "z"
}

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