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Update DH parameters of UR5 #89

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Update DH parameters of UR5 #89

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2 changes: 1 addition & 1 deletion models/mdl_ur10.m
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
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2 changes: 1 addition & 1 deletion models/mdl_ur3.m
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
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4 changes: 2 additions & 2 deletions models/mdl_ur5.m
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand Down Expand Up @@ -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]';

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