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.
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. |

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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 |

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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 |

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