机器人构型

轴数

六轴

六轴

构型

构型名称

UR_UR5_Like

SphericalWrist_SixAxis

构型描述

六轴协作机器人

常见工业六轴球型腕机器人

机器人 构型图

DH参数图

../../_images/robot_configuration1.png
../../_images/robot_configuration2.png

坐标系 各轴名称

../../_images/robot_configuration3.png
../../_images/robot_configuration4.png

连杆、坐标系 对应关系

0:坐标系10; 1:坐标系10; 2:坐标系2; 3:坐标系3;

4:坐标系4; 5:坐标系5; 6:坐标系6;

0:坐标系10; 1:坐标系10; 2:坐标系2; 3:坐标系3;

4:坐标系4; 5:坐标系5; 6:坐标系6;

[robot]_algo 样例

{
 "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
}