2019-06-17 13:10:31 -0500 answered a question command to return version of ur5 You should be able to simply find out the software by clicking "about" on the Polyscope. 2019-06-11 14:44:47 -0500 marked best answer inverse kinematics in ur_driver is not accurate I am trying to use the inverse kinematics (IK) solver in ur_driver for my UR5 robot. My goal is to move the robot to a target joint position given a set of robot TCP pose/end-effector pose. However, there is always a small error (about 1mm) in each x/y/z axis after positioning. So I did this quick test for the ur_driver as follows. 1 First, position robot using movegroup. map jointPose; jointPos["shoulder_pan_joint"] = -0.9217; jointPos["shoulder_lift_joint"] = -1.5935; jointPos["elbow_joint"] = 2.236; jointPos["wrist_1_joint"] = -0.4291; jointPos["wrist_2_joint"] = 0.2916; jointPos["wrist_3_joint"] = 0.7746; move_group.setPoseTarget(another_pose); move_group.move();  2. Second, record robot tool0 pose as shown in RViz, result as follows. [position(m),orientation(quaternion)] = [0.33561, -0.13135, 0.1815, 0.64684, 0.33476, 0.68078, 0.077926].  3. Third, position robot with URScript movej() command, record robot tool pose as shown on the polyscope. [position(m),orientation(rxryrz)] = [0.33667,-0.13125,0.18217,0.7471,-1.4515,-0.1768]  As I can see, there is a slight position difference in each x/y/z direction. So my assumption is the IK solution given by ur_driver is not precise. I have compared the DH parameters in the driver to that given by [1]. They seem to be the same. Does anyone know how to compute the accurate IK solution for UR robot? I appreciate any help and insight that could potentially solve the problem. 2019-06-11 14:44:47 -0500 received badge ● Scholar (source) 2019-06-11 14:43:58 -0500 answered a question inverse kinematics in ur_driver is not accurate I hope this may help those who are new to UR robot. I talked to UR technical support and was aware of the calibration.c 2019-06-11 14:37:28 -0500 commented answer inverse kinematics in ur_driver is not accurate Thank you for pointing out the discussion. The problem was that I did not consider the manufacturer's calibration. Witho 2019-06-07 05:59:07 -0500 received badge ● Notable Question (source) 2019-06-07 05:59:07 -0500 received badge ● Popular Question (source) 2019-06-06 13:01:51 -0500 asked a question inverse kinematics in ur_driver is not accurate inverse kinematics in ur_driver is not accurate I am trying to use the inverse kinematics (IK) solver in ur_driver for m