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Universal Robot UR5 Kinematics Guide

The document describes two exercises related to robotics. The first exercise asks to assign Denavit-Hartenberg frames to a Universal Robot UR5 manipulator and provide the corresponding parameter table. The second exercise asks to write a program to solve the inverse kinematics of a 3R planar robot with equal link lengths.

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143 views2 pages

Universal Robot UR5 Kinematics Guide

The document describes two exercises related to robotics. The first exercise asks to assign Denavit-Hartenberg frames to a Universal Robot UR5 manipulator and provide the corresponding parameter table. The second exercise asks to write a program to solve the inverse kinematics of a 3R planar robot with equal link lengths.

Uploaded by

mezzi houssem
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd

Robotics I

June 6, 2016

Exercise 1

Figure 1 shows a drawing and two pictures of the Universal Robot UR5, a 6R lightweight manipu-
lator with 5 kg of payload. The six joints are labeled as base, shoulder, elbow, wrist1, wrist2, and
wrist3. The relevant kinematic lengths are reported in the figure.

j5

j6
j4

j3

j2

j1

Figure 1: A drawing of the Universal Robot UR5 with the six joint axes indicated, and two views
of the manipulator in action.

Assign the link frames according to the classical Denavit-Hartenberg convention and derive the
associated table, providing the numerical values of the constant DH parameters. Place the origin of
the reference frame (frame 0) at the robot base, and choose the last frame (frame 6) with the origin
at the center of the end-effector flange and the z 6 axis along the approach direction. Moreover,
provide the values of the joint angles θi , i = 1, . . . , 6, associated to the robot configuration shown
in the drawing of Fig. 1.

Exercise 2

Given a planar 3R robot with equal link lengths, write a program (in pseudo-code or any preferred
language) that solves the inverse kinematics in a numerical way, taking as input the desired position
p = (px , py ) and providing as output a solution q, if one exists. Use appropriate termination/exit
conditions for your algorithm. Provide also the robot kinematic functions needed by the program.

[180 minutes; open books]

1
Solution
June 6, 2016

Exercise 1

z4 x3
z6 z5
y4
z3
y6 y5

x2

z2

y1

z0
z1

x0

Figure 2: A possible assignment of DH frames for the UR5 robot

i αi ai di θi

1 π/2 0 d1 = 89.2 θ1 = π/2

2 0 a2 = 425 0 θ2 = π/2

3 0 a3 = 392 0 θ3 = 0

4 π/2 0 d4 = 109.3 θ4 = π/2

5 −π/2 0 d5 = 94.75 θ5 = 0

6 0 0 d6 = 82.5 θ6 = 0

Table 1: DH parameters (units in mm or rad)

A video of this robot in action can be found on YouTube (e.g., [Link]


∗∗∗∗∗

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