Axial Offsets for UR and Yaskawa robots
We use code from a 3rd-party that uses axial offsets when computing inverse-kinematics. The offsets for UR10e robot are below. I tried to understand what joints those offsets match to. I found this website with the Axial Offsets, but I don't understand what are d1,a2,ar3.... I also need to find axial offsets for Yaskawa HC10. Does anyone know what these offsets are and where to get them?
d1: 0.181
a2: -0.613
a3: -0.571
d4: 0.174
d5: 0.120
d6: 0.117
Asked by arisigor on 2023-07-06 12:26:14 UTC
Comments
Those parameters are the DH parameter notation.
For UR, see the corresponding documentation: https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
Beware, that on a real robot those values might be significantly different. You can fetch the actual dh parameters using the ur_calibration package.
Asked by fexner on 2023-07-07 08:39:12 UTC