Robot Configurations

Six-Axis

UR_UR5_Like (six-axis collaborative robot similar to UR5)

Painting_SixAxis (six-axis spray painting robot)

SphericalWrist_SixAxis (common industrial six-axis spherical wrist robot)

SphericalWrist_SixAxis_KAWASAKI_BX250L_Like (six-axis spherical wrist robot with positive X-direction and Z-direction offsets (G, D) on the J3)

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

Five-Axis

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

Four-Axis

Palletizer (four-axis palletizing robot)

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

Scara_FourAxis_Translation_1st (four-axis SCARA robots with axis 1 as translation axis)

Scara_FourAxis (four-axis SCARA)

Six-Axis

OffsetWrist_Y_SixAxis_FANUC_CRX_10IA_Like (there is a negative Y-direction offset (L) on the J5)

OffsetWrist_Y_SixAxis_Rokae_SR4_Like (there is a positive X-direction offset (G) on the J2, and a negative Y-direction offset (L) on the J5)

OffsetWrist_Y_SixAxis_DENSO_COBOTTA_PRO_1300_Like (there is a negative Y-direction offset (H) on the J3, and a positive Y-direction offset (L) on the J5)

OffsetWrist_Y_SixAxis_DENSO_COBOTTA_Like (there are positive Y-direction and Z-direction offsets (H, D) on the J3, and a negative Y-direction offset (L) on the J5)

OffsetWrist_Z_SixAxis_ABB_CRB15000_Like (there is a positive Z-direction offset (M) on the J5)