sample_IK_UR16e-main.zip (8.26 MB)

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

software

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

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

Usage metrics

Keywords

Inverse kinematics and dynamics universal robot Unity 3D application Unity 3D project IK Remote control.Robotics robot unity UR16e

Licence

MIT