Statistical comparison of Denavit-Hartenberg based inverse kinematic solutions of the UR5 robotic manipulator

Abstract

Inverse kinematic control of industrial robotic manipulators is extensively used, for this reason it is important that inverse kinematic solutions are available for researchers working on this topic. This study presents the direct kinematic solution and four sets of equations to compute the inverse kinematics for the Universal Robots robotic arms, particularly the UR5, all of which were obtained by using the Denavit-Hartenberg methodology. The inverse kinematic solutions are compared through statistical methods by examining the position and orientation of the end effector. Results show that some sets of equations are better when evaluated with high precision tools.