ur5_robot's Introduction
The UR5 robot is an industrial robot easy to use. In this project I use the robotic toolbox by Peter Corke to simulate its behaviour. ----------------------------------------------------------------------------------- Main optimizzation 1) Collision detection -> Collision between object and link Collision between object and joint Collision between object and EE 2) Singularities Avoidance Trajectory For change the main object structure change the file called train structure. The object is build by the pHRIWARE.
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yt100323ur5_robot's Issues
Optimized trajectory
Next point is introduce the optimization of trajectory by the differential kinematic
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