# \#robotics **URL:** https://forum.universal-robots.com/tag/robotics/8.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [UR10 Calibration.conf DH model generation](https://forum.universal-robots.com/t/ur10-calibration-conf-dh-model-generation/1638)
**Author:** [@anon3995](https://forum.universal-robots.com/u/anon3995)\ **Replies:** 8\ **Last updated:** [April 13, 2023, 2:50pm UTC](https://forum.universal-robots.com/t/ur10-calibration-conf-dh-model-generation/1638 "2023-04-13T14:50:27Z")
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 … --- ## [Direct Kinematic model - DH parameters](https://forum.universal-robots.com/t/direct-kinematic-model-dh-parameters/4518)
**Author:** [@florent.monbrun](https://forum.universal-robots.com/u/florent.monbrun)\ **Replies:** 9\ **Last updated:** [January 2, 2023, 8:14am UTC](https://forum.universal-robots.com/t/direct-kinematic-model-dh-parameters/4518 "2023-01-02T08:14:30Z")
Hello all, I read the topic https://forum.universal-robots.com/t/ur10-calibration-conf-dh-model-generation/1638 but I think I miss something. We are using offline programming softwares (Robodk & Vrep) and it would be n… --- ## [Equation behind time based movements](https://forum.universal-robots.com/t/equation-behind-time-based-movements/10667)
**Author:** [@daniel.badinszky](https://forum.universal-robots.com/u/daniel.badinszky)\ **Replies:** 1\ **Last updated:** [February 8, 2021, 6:29pm UTC](https://forum.universal-robots.com/t/equation-behind-time-based-movements/10667 "2021-02-08T18:29:05Z")
I am developing a plugin that handles a 7th axes. I would like to know how Polyscope calculates the acceleration and speed during a time based movement (like 3 seconds for 90degree on the base). I realized that under 45… --- ## [Possible param HD error in FAQ #17264](https://forum.universal-robots.com/t/possible-param-hd-error-in-faq-17264/273)
**Author:** [@malacasse](https://forum.universal-robots.com/u/malacasse)\ **Replies:** 0\ **Last updated:** [October 3, 2016, 3:21pm UTC](https://forum.universal-robots.com/t/possible-param-hd-error-in-faq-17264/273 "2016-10-03T15:21:33Z")
In the FAQ #17264 title “Actual center of mass for robot” the given Denavit–Hartenberg parameters for UR5 is : d = \[0.089459, 0, 0, 0.10915, 0.09465, 0.0823\] but in the urcontrol.conf file of the offline simulator 3.3.… --- ## [Kinematic Calibrate in CB3](https://forum.universal-robots.com/t/kinematic-calibrate-in-cb3/3813)
**Author:** [@anon47499781](https://forum.universal-robots.com/u/anon47499781)\ **Replies:** 0\ **Last updated:** [March 12, 2019, 10:51am UTC](https://forum.universal-robots.com/t/kinematic-calibrate-in-cb3/3813 "2019-03-12T10:51:13Z")
Hi , I operated Dual Robot Calibration in CB series and the result as below. But i have no idea about the “Calibration Results” and “Control Results” from calibration manual. What is mean in “Calibration Results… --- ## [Robot theory and how to use it in UR robots](https://forum.universal-robots.com/t/robot-theory-and-how-to-use-it-in-ur-robots/3863)
**Author:** [@sba](https://forum.universal-robots.com/u/sba)\ **Replies:** 9\ **Last updated:** [June 16, 2020, 4:49pm UTC](https://forum.universal-robots.com/t/robot-theory-and-how-to-use-it-in-ur-robots/3863 "2020-06-16T16:49:54Z")
This is the theoretical explanation on general robot manipulators and how to use it for the advanced applications with UR robots. Attached the URScript sample is written for the purpose of better understanding. However… --- ## [Make sure a list of poses can run without exception](https://forum.universal-robots.com/t/make-sure-a-list-of-poses-can-run-without-exception/1304)
**Author:** [@anon21910823](https://forum.universal-robots.com/u/anon21910823)\ **Replies:** 3\ **Last updated:** [February 25, 2020, 1:24pm UTC](https://forum.universal-robots.com/t/make-sure-a-list-of-poses-can-run-without-exception/1304 "2020-02-25T13:24:39Z")
Hello all, I have an external program that loads lots of poses and sends it to the robotic controller to be run via TCP-IP. The issue is sometimes the motion will be cut off due to initial positioning of the robot (i.e … --- ## [Dynamic parameters (Inertia matrix, friction coefficients..)](https://forum.universal-robots.com/t/dynamic-parameters-inertia-matrix-friction-coefficients/5948)
**Author:** [@anon198159](https://forum.universal-robots.com/u/anon198159)\ **Replies:** 2\ **Last updated:** [January 2, 2020, 5:53pm UTC](https://forum.universal-robots.com/t/dynamic-parameters-inertia-matrix-friction-coefficients/5948 "2020-01-02T17:53:08Z")
Hi, I’m a PhD student and I’m currently working for UR robots control in order to perform the control, I need to model the system and I want it to be accurate as possible to mimic the real physical robot I have the ma… --- ## [UR10 Calibration DH parameters](https://forum.universal-robots.com/t/ur10-calibration-dh-parameters/5733)
**Author:** [@mvrooij](https://forum.universal-robots.com/u/mvrooij)\ **Replies:** 8\ **Last updated:** [December 21, 2019, 8:35pm UTC](https://forum.universal-robots.com/t/ur10-calibration-dh-parameters/5733 "2019-12-21T20:35:38Z")
Dear, I’m calibrating motion between a 3D camera system and a tool. I compute all forward and inverse kinematics using the DH parameters. I ran into a strange issue. I’m using a UR10 CB3 model. From the CalibrationManua… --- ## [Cannot Generate A Valid Velocity Profile](https://forum.universal-robots.com/t/cannot-generate-a-valid-velocity-profile/5876)
**Author:** [@anon83916365](https://forum.universal-robots.com/u/anon83916365)\ **Replies:** 1\ **Last updated:** [December 18, 2019, 7:23am UTC](https://forum.universal-robots.com/t/cannot-generate-a-valid-velocity-profile/5876 "2019-12-18T07:23:35Z")
Hey Guys, has anyone seen this error, i am doing spirals and this randomly comes up. nothing is changing, it i generating new variables on the fly but randomly this error comes up. --- ## [Is there a way to modify DH parameters](https://forum.universal-robots.com/t/is-there-a-way-to-modify-dh-parameters/3681)
**Author:** [@anon70167123](https://forum.universal-robots.com/u/anon70167123)\ **Replies:** 2\ **Last updated:** [February 20, 2019, 10:54am UTC](https://forum.universal-robots.com/t/is-there-a-way-to-modify-dh-parameters/3681 "2019-02-20T10:54:25Z")
Hi all! I have an idea to calibrate the robot by correcting the DH parameters. The way I envisioned was to calibrate the robot by modifying the DH parameters in the ‘urcontrol.conf’ file of my robot setup folder on th… --- ## [DH parameters of e-series robots](https://forum.universal-robots.com/t/dh-parameters-of-e-series-robots/2618)
**Author:** [@anon75497214](https://forum.universal-robots.com/u/anon75497214)\ **Replies:** 4\ **Last updated:** [September 4, 2018, 6:34pm UTC](https://forum.universal-robots.com/t/dh-parameters-of-e-series-robots/2618 "2018-09-04T18:34:44Z")
Since the new e-series robots have different dimensions, I wanted to know when you will provide the DH parameters for these robots or update your document about the dimensions of the CB models \[1\]. I looked through your … --- ## [Joints eccentricity in kinematic model](https://forum.universal-robots.com/t/joints-eccentricity-in-kinematic-model/1619)
**Author:** [@malacasse](https://forum.universal-robots.com/u/malacasse)\ **Replies:** 3\ **Last updated:** [March 22, 2018, 12:33am UTC](https://forum.universal-robots.com/t/joints-eccentricity-in-kinematic-model/1619 "2018-03-22T00:33:26Z")
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. … --- ## [How to get tcp pose in feature coordinates?](https://forum.universal-robots.com/t/how-to-get-tcp-pose-in-feature-coordinates/495)
**Author:** [@anna](https://forum.universal-robots.com/u/anna)\ **Replies:** 4\ **Last updated:** [February 27, 2017, 4:06pm UTC](https://forum.universal-robots.com/t/how-to-get-tcp-pose-in-feature-coordinates/495 "2017-02-27T16:06:14Z")
The script command get\_actual\_tcp\_pose() defaults to base feature coordinates. I want to get TCP coordinates inside a plane feature that I have defined (I need the x and y coordinates as offsets for a variable waypoint …