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mdl_ur5

Create model of Universal Robotics UR5 manipulator

MDL_UR5 is a script that creates the workspace variable ur5 which describes the kinematic characteristics of a Universal Robotics UR5 manipulator using standard DH conventions.

Also define the workspace vectors:

qz zero joint angle configuration
qr arm along +ve x-axis configuration

Reference

Notes

See also

mdl_ur3, mdl_ur10, mdl_puma560, SerialLink


 

© 1990-2014 Peter Corke.