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Cartesian space robot manipulator clamping movement in ROS simulation and experiment

Longtao Mu

Longtao Mu

School of Mechanical Engineering, Shaanxi Polytechnic InstituteXianyang, China
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Mu, Longtao
, 
Yunfei Zhou

Yunfei Zhou

School of Management, Xi’an University of Finance and EconomicsXi’an, China
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Zhou, Yunfei
 und 
Tiebiao Zhao

Tiebiao Zhao

School of Engineering, University of California MercedMerced, USA
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Zhao, Tiebiao
  
15. Feb. 2021
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Online veröffentlicht: 15. Feb. 2021
Seitenbereich: 43 - 52
Eingereicht: 29. Sept. 2020
Akzeptiert: 30. Nov. 2020
DOI: https://doi.org/10.2478/amns.2021.1.00011
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© 2020 Longtao Mu et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.

Fig. 1

UR5 robotic arm with 6 degrees of freedom.Note: Joint A: Base, B: Shoulder, C: Elbow and D, E, F: Wrist 3, 2, 1; Picture source: Universal Robot.
UR5 robotic arm with 6 degrees of freedom.Note: Joint A: Base, B: Shoulder, C: Elbow and D, E, F: Wrist 3, 2, 1; Picture source: Universal Robot.

Fig. 2

MoveIt! plugin of ROS.
MoveIt! plugin of ROS.

Fig. 3

UR5 robotic arm grasping simulation experiment.
UR5 robotic arm grasping simulation experiment.

Fig. 4

The change curve of the joint position of the robotic arm.Note: Joint F is green line (joint_states/position[0]), Joint E is red line (joint_states/position[1]), Joint D is yellow line (joint_states/position[2]), Joint C is brown line (joint_states/position[3]), Joint B is blue line (joint_states/position[4]), Joint A is orange line (joint_states/position[5]).
The change curve of the joint position of the robotic arm.Note: Joint F is green line (joint_states/position[0]), Joint E is red line (joint_states/position[1]), Joint D is yellow line (joint_states/position[2]), Joint C is brown line (joint_states/position[3]), Joint B is blue line (joint_states/position[4]), Joint A is orange line (joint_states/position[5]).

Torque change value of UR5 robotic arm picking action (unit Nm)_

Joint torque Joint F Joint E Joint D Joint C Joint B Joint A
Initial position −0.00 −3.51 18.75 0.81 −0.00 0.00
Joint position 0.00 26.21 20.10 0.81 −0.00 0.00
Target location −0.00 26.66 18.85 0.76 −0.00 0.00

D-H parameters of UR5 robotic arm_

Joint αi−1 vi−1/mm d1/mm θi/(°) Joint range/(°)
A α1=90 0 d1=89.2 θ1(0) −360∼ 360
B 0 a2=−425 0 θ2(0) −360∼ 360
C 0 a3=−392 0 θ3(0) −360∼ 360
D α4=90 0 d4=109.3 θ4(0) −360∼ 360
E α5=−90 0 d5=94.75 θ5(0) −360∼ 360
F 0 0 d6=82.5 θ6(0) −360∼ 360
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