Hi all, I am attempting to build a URDF for the UR10 that can be automatically generated using DH parameters. What I currently do is read urcontrol.conf.UR10 and apply calibration.conf to them as follows: corrected_a = delta_a (calibration.conf) + a (urcontrol.conf.UR10) corrected_d = delta_d (c…

For anyone in the future going down this path, the final approach I used which worked was to add the coefficients together, giving a set of a, d, theta and alpha which were the sum of the calibration.conf and urcontrol files. To use these with your system they need to be applied in order as specifi…

UR10 Calibration.conf DH model generation

Technical Questions

mvrooij August 8, 2022, 1:13pm 8

It’s meters and radians. The large values are actually correct, since they cancel each other out in practice. But I agree, they do look weird

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Robot Calibration DH-Parameters mismatch

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UR10 Calibration.conf DH model generation

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