Kinematic and dynamic modelling of UR5 manipulator

UR robotic arms are from a series of lightweight, fast, easy to program, flexible, and safe robotic arms with 6 degrees of freedom. The fairly open control structure and low level programming access with high control bandwidth have made them of interest for many researchers. This paper presents a complete set of mathematical kinematic and dynamic, Matlab, and Simmechanics models for the UR5 robot. The accuracy of the developed mathematical models are demonstrated through kinematic and dynamic analysis. The Simmechanics model is developed based on these models to provide high quality visualisation of this robot for simulation of it in Matlab environment. The models are developed for public access and readily usable in Matlab environment. A position control system has been developed to demonstrate the use of the models and for cross validation purpose.