Universal Robots Forum

Inverse Kinematics of the UR5

Hello I would like to know if there is a MATLAB script available to calculate the inverse kinematics of the UR5 robot? I am trying to calculate it, however there are always some errors in my results. If anyone could provide a functional script, it would be great! :slight_smile:

Kind Regards,

This may not help you exactly but consider: Return calibrated pose - #9 by abiard
Every robot has calibration data which determines its real forward kinematics.

If you use only the generic robot model your inverse kinematics will always be off vs what the controller says.

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Thanks for the suggestion, however I am using RoboDK now due to the ongoing pandemic, maybe I should have specified that! I’ve tried looking some other scripts online, but they all give considerable errors in relation to the expected joint-angles. However, thanks again for the help :slight_smile: