From 89950aca07b19f6d52096662c0c9850cd6df0b62 Mon Sep 17 00:00:00 2001 From: Jiaxin Shou Date: Mon, 31 Aug 2020 16:10:35 +0800 Subject: [PATCH] Update DH parameters of UR5 --- models/mdl_ur10.m | 2 +- models/mdl_ur3.m | 2 +- models/mdl_ur5.m | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/models/mdl_ur10.m b/models/mdl_ur10.m index 1d69351f..4858a5bb 100644 --- a/models/mdl_ur10.m +++ b/models/mdl_ur10.m @@ -9,7 +9,7 @@ % qr arm along +ve x-axis configuration % % Reference:: -% - https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/actual-center-of-mass-for-robot-17264/ +% - https://www.universal-robots.com/articles/ur/parameters-for-calculations-of-kinematics-and-dynamics/ % % Notes:: % - SI units of metres are used. diff --git a/models/mdl_ur3.m b/models/mdl_ur3.m index 469f3370..4aebb873 100644 --- a/models/mdl_ur3.m +++ b/models/mdl_ur3.m @@ -9,7 +9,7 @@ % qr arm along +ve x-axis configuration % % Reference:: -% - https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/actual-center-of-mass-for-robot-17264/ +% - https://www.universal-robots.com/articles/ur/parameters-for-calculations-of-kinematics-and-dynamics/ % % Notes:: % - SI units of metres are used. diff --git a/models/mdl_ur5.m b/models/mdl_ur5.m index b99e9586..34e25b5a 100644 --- a/models/mdl_ur5.m +++ b/models/mdl_ur5.m @@ -9,7 +9,7 @@ % qr arm along +ve x-axis configuration % % Reference:: -% - https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/actual-center-of-mass-for-robot-17264/ +% - https://www.universal-robots.com/articles/ur/parameters-for-calculations-of-kinematics-and-dynamics/ % % Notes:: % - SI units of metres are used. @@ -48,7 +48,7 @@ % robot length values (metres) a = [0, -0.42500, -0.39225, 0, 0, 0]'; - d = [0.089459, 0, 0, 0.10915, 0.09465, 0.0823]'; + d = [0.089159, 0, 0, 0.10915, 0.09465, 0.0823]'; alpha = [1.570796327, 0, 0, 1.570796327, -1.570796327, 0]';