Overview Universal Robot

UR10e Collaborative industrial robot - Payload up to 12.5 kg

Link to the website of UR10e

Please take a look specifications and brochure of UR10e

2MB

e-series-brochure.pdf

pdf

708KB

ur10e-tech-specs-eng.pdf

pdf

Please download and take a look at the User Manual UR10e Robot

16MB

UR10e_User_Manual_en_Global.pdf

pdf

Euler Angles in UR Robot

In the UR Robot, the TCP point shown in a picture has a position[x, y, z] and orientation in Euler Angle [r, p, y] - Roll, Pitch and Yaw. This position refers to the base frame body of the robot.

$$TCP= \begin{bmatrix} x\\ y \\ z \\ r \\ p \\ y \\ \end{bmatrix} = \begin{bmatrix} 0.0 mm\\ -290.7 mm \\ 1484.80 mm \\ -90.0^{o} \\ 0.0^{o} \\ -180.0^{o} \\ \end{bmatrix}$$