Universal Robots Forum

Joints eccentricity in kinematic model

For a URCap application we would like to calculate offline trajectory, so we use the calibrated HD parameters to build a kinematic model, but we are still missing precision compare to urscript get_inverse_kin function.
Each joint has calibration file with eccentricity tau and sigma parameters and we would like to know how these parameters are include in the kinematic model.


@jbm Hi Jacob, so can your team shares the exact kinematic model ? Be able to calculate offline the exact kinematics of UR robot would be of great interest for our URCap developments.

Could this thread answer your question?

Yes, it answers my question, thanks.