fig.1.

UR5 Robto manipulator

The independent coordinates are “generalized coordinates”

•Number of generalized coordinates is equal to Degrees-of-freedom (DOF)

•The planar robot arm has 2-DOF

•Any two can be generalized coordinates

•In robots, 1and 2are most convenient as they are actuator-controlled

Document for http://packages.ros.org/ros-shadow-fixed/ubuntu

fig.1. UR5 Robto manipulator

 fig.1. UR5 Robto manipulator

The independent coordinates are “generalized coordinates”

•Number of generalized coordinates is equal to Degrees-of-freedom (DOF)

•The planar robot arm has 2-DOF

•Any two can be generalized coordinates

•In robots, 1and 2are most convenient as they are actuator-controlled

Document for http://packages.ros.org/ros-shadow-fixed/ubuntu

 fig.1. UR5 Robto manipulator

General dynamic model can be derived using Euler-Lagrange formalism.

6dofs for the manipulator and …

At equilibrium