Application and development of three-dimensional profile measurement for large and complex surface

Path planning of manipulator based on variable probability RRT algorithm

“…The object of this paper is the UR10 robot, which consists of six rotary joints, namely, base, shoulder, elbow, wrist 1, wrist 2, and wrist 3. The D-H method is used to establish the root coordinate system of each joint of the robot arm, as shown in Figure 1, and the D-H parameters of the UR10 robot arm are shown in Table 1 [6,7] . The coordinate transformation matrix of wrist 3 of the robot arm with respect to the base can be obtained by multiplying the transformation matrix of adjacent joints sequentially.…”