Security password: SafeTy
Factory mode: Enter Lightbot from the left to right on the main interface

The instrument is linux, which can be logged in.
The default keyboard layout is Danish ..t_t
custom program under /programs /folder

6D posture representation method

The first three components ofp[x y z rx ry rz]indicate the translation, and the latter three components represent Rodrigues rotating.
to passRODRIGUES Rotating FormulaConvert to a rotating matrix

coordinate system (UR is called Feature)
Base coordinate system: The vertical upward is the Z positive axis, and the power cord is the y positive axis
TCP coordinate system: The central axis is the Z front axis outside, and the cable is the Y negative axis
15 15 15 15: No existence

1 1 will be responsible for converting the box diagram into Urscript script and sending it through the network.
Send instructions cover the previous instructions and are immediately executed. If you want multiple instructions to execute in order, you need to wrap the function.
Movej is the independent movement of each axis
Movel moves along the line
Movep is the first line and then the arc
Blending The fusion radius is implemented through the R parameter. A typical mobile instructions are as follows

movej([2.5, -2.0, -1.3, 0.56, 1.39, 0.0], a=1.0, v=0.08, r=0.01)
movej([2.6, -2.1, -1.6, 0.4, 1.5, 0], a=1.0, v=0.08, r=0.01)

can also be usedt=？Parameter specify the mobile event, at this time the speed parameter is invalid

Servo mode,

dh parameter

We use matrix multiplication to indicate the center point of the robotic arm (Tool Central Point (TCP), such as

Among them Ti+1i

齐 2 2 can be directly reversed!
can also be simplified by using the special nature of the transform matrix

dh parameter complete expression

UR series mechanical other DH parameters see Appendix

Appendix

UR series DH parameters
Denavit–Hartenberg parameters for UR5:
[Base, Upper Arm, Lower arm, Wrist 2, Wrist 3, Tool Mounting Bracket]
a = [0, -0.42500, -0.39225, 0, 0, 0]
d = [0.089159, 0, 0, 0.10915, 0.09465, 0.0823]
alpha = [1.570796327, 0, 0, 1.570796327, -1.570796327, 0]
mass = [3.7000, 8.3930, 2.33, 1.2190, 1.2190, 0.1897]
center_of_mass = [[0,-0.02561, 0.00193], [0.2125, 0, 0.11336], [0.15, 0, 0.0265], [0, -0.0018, 0.01634], [0, -0.0018, 0.01634], [0, 0, -0.001159]]

Denavit–Hartenberg parameters for UR10:
[Base, Upper Arm, Lower arm, Wrist 2, Wrist 3, Tool Mounting Bracket]
a = [0, -0.612, -0.5723, 0, 0, 0]
d = [0.1273, 0, 0, 0.163941, 0.1157, 0.0922]
alpha = [1.570796327, 0, 0, 1.570796327, -1.570796327, 0]
mass = [7.1, 12.7, 4.27, 2.000, 2.000, 0.365]
center_of_mass = [[0.021, 0, 0.027], [0.38, 0, 0.158], [0.24, 0, 0.068], [0.0, 0.007, 0.018], [0.0, 0.007, 0.018], [0, 0, -0.026]]