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Inverse Kinematics (IK) solution for a 6-DOF robot arm (UR16e) in Unity 3D

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posted on 2023-04-14, 08:50 authored by Damien MazeasDamien Mazeas

Result: https://youtu.be/9upypT6OWwk


Inverse Kinematics for UR16e Robot

Created with Unity 2021.3.14f1 

This repository contains a C# implementation of the Inverse Kinematics algorithm for the UR16e robot. The code calculates the joint angles required to achieve a desired end-effector pose using the robot's Denavit-Hartenberg (DH) parameters.


Usage

In Editor or Play mode move the IK gameobject.

Funding

DSTL and Cranfield University

History

Authoriser (e.g. PI/supervisor)

Damien.J.Mazeas@cranfield.ac.uk