Universal Robots CB3 Kinematic Calibration Manual

B. Robot DH Parameter
B Robot DH Parameter
The robots kinematic transformations for each link are given by Denavite-Hartenberg(DH) parameters.
B.1 UR3
θ [r a d ] a [m] d [m] α [r a d ]
Joint 1: 0 0 0.118
π
2
Joint 2: 0 −0.2437 0 0
Joint 3: 0 −0.2133 0 0
Joint 4: 0 0 0.1124
π
2
Joint 5: 0 0 0.0854
−π
2
Joint 6: 0 0 0.0819 0
Table B.1: Denavit-Hartenberg parameters for the UR3 robot
B.2 UR5
θ [r a d ] a [m] d [m] α [r a d ]
Joint 1: 0 0 0.08920
π
2
Joint 2: 0 −0.42500 0 0
Joint 3: 0 −0.39243 0 0
Joint 4: 0 0 0.10900
π
2
Joint 5: 0 0 0.09300
−π
2
Joint 6: 0 0 0.08200 0
Table B.2: Denavit-Hartenberg parameters for the
UR5 serie 1
θ [r a d ] a [m] d [m] α [r a d ]
Joint 1: 0 0 0.08920
π
2
Joint 2: 0 −0.42500 0 0
Joint 3: 0 −0.39225 0 0
Joint 4: 0 0 0.11000
π
2
Joint 5: 0 0 0.09475
−π
2
Joint 6: 0 0 0.08250 0
Table B.3: Denavit-Hartenberg parameters for the
UR5 serie 2
θ [r a d ] a [m ] d [m] α [r a d ]
Joint 1: 0 0 0.089159
π
2
Joint 2: 0 −0.42500 0 0
Joint 3: 0 −0.39225 0 0
Joint 4: 0 0 0.10915
π
2
Joint 5: 0 0 0.09465
−π
2
Joint 6: 0 0 0.08230 0
Table B.4: Denavit-Hartenberg parameters for the UR5 serie 3.
B.3 UR10
θ [r a d ] a [m] d [m] α [r a d ]
Joint 1: 0 0 0.118
π
2
Joint 2: 0 −0.6127 0 0
Joint 3: 0 −0.5716 0 0
Joint 4: 0 0 0.1639
π
2
Joint 5: 0 0 0.1157
−π
2
Joint 6: 0 0 0.0922 0
Table B.5: Denavit-Hartenberg parameters for the UR10 robot
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Universal Robots CB3 Specifications

General

Brand	Universal Robots
Model	CB3
Category	Robotics
Language	English