Table 1 6-DOF UR5e DH and inertial parameters (units: m, rad; CoM relative to frame i).
Kinematics | \(\theta\) [rad] | d [m] | a [m] | \(\alpha\) [rad] | Dynamics | Mass [kg] | Center of Mass [m] |
|---|---|---|---|---|---|---|---|
Joint1 | \(\theta _{1}\) | 0.089159 | 0 | \(\pi /2\) | Link1 | 3.7 | [0, − 0.02561, 0.00193] |
Joint2 | \(\theta _{2}\) | 0 | − 0.425 | 0 | Link2 | 8.393 | [0.2125, 0, 0.11336] |
Joint3 | \(\theta _{3}\) | 0 | − 0.39225 | 0 | Link3 | 2.33 | [0.11993, 0, 0.0265] |
Joint4 | \(\theta _{4}\) | 0.10915 | 0 | \(\pi /2\) | Link4 | 1.219 | [0, − 0.0018, 0.01634] |
Joint5 | \(\theta _{5}\) | 0.09465 | 0 | \(-\pi /2\) | Link5 | 1.219 | [0, 0.0018, 0.01634] |
Joint6 | \(\theta _{6}\) | 0.0823 | 0 | 0 | Link6 | 0.1879 | [0, 0, − 0.001159] |
