The DH parameters of the UR5

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ccheng292
Posts: 7
Joined: 21 Apr 2022, 14:13

The DH parameters of the UR5

Post by ccheng292 »

I used the DH extract tool for UR5 in V-rep. I get the following result:
-----------------------------------------------------------
Between 'UR5_joint1#0' and 'UR5_joint2#0':
d=0.0661
theta=0.1
a=0.0050
alpha=-90.0
-----------------------------------------------------------
But for UR5, the standard DH parametersis "d=0.089159, a=0, alpha=pi/2 ", the standard DH parameters is "d=0.089159, a=0, alpha=0", Let's just talk about alpha, why the alpha got from extractor is -pi/2?

SevenTRI
Posts: 15
Joined: 19 Mar 2022, 10:32

Re: The DH parameters of the UR5

Post by SevenTRI »

Excuse me, have you solved it?

jiaqiYu
Posts: 5
Joined: 20 Apr 2023, 04:16

Re: The DH parameters of the UR5

Post by jiaqiYu »

I also encountered this issue. The DH parameters extracted by the DH extractor in version 4.5 do not match the actual situation. The official said that this tool is broken, but it seems to have not been repaired

coppelia
Site Admin
Posts: 10312
Joined: 14 Dec 2012, 00:25

Re: The DH parameters of the UR5

Post by coppelia »

Hello,

that add-on should have been fixed in release V4.5. It could of course be that the UR5 model has some discrepancies in regards to the real robot. Do you have the specs at hand, including a CAD model (also rigid)?

Cheers

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