what units does ure5 use

2 min read 24-12-2024

The URE5 (Universal Robot e-Series 5th generation) collaborative robot, or cobot, uses a variety of units to measure and control its movements and operations. Understanding these units is crucial for properly programming and utilizing the robot's full potential. This article will detail the key units employed by the UR5e.

Key Measurement Units of the UR5e

The UR5e's functionality relies on several interconnected systems. Let's break down the primary units:

1. Joint Angles (Radians and Degrees)

The UR5e's six joints are controlled using angles. These angles are often expressed in both radians and degrees. Radians are the standard unit in robotic programming, representing the ratio of arc length to radius. Degrees provide a more intuitive understanding for many users. Understanding the conversion between these two units is critical for accurate programming.

Radians: The standard unit in most robotic programming software.
Degrees: A more familiar unit, often used for ease of understanding and initial setup.

2. Cartesian Coordinates (Meters and Millimeters)

The UR5e's position in space can be defined using Cartesian coordinates. These coordinates represent the robot's location relative to a defined reference frame, typically using X, Y, and Z axes. The units are usually meters (m) or millimeters (mm).

Meters (m): The SI unit for length, often preferred for larger workspaces.
Millimeters (mm): A more convenient unit for smaller movements and precise positioning.

3. Force/Torque (Newton-meters (Nm) and Newtons (N))

When working in collaborative applications, force and torque control are essential. The UR5e uses Newton-meters (Nm) to measure torque and Newtons (N) to measure force. These units are critical for ensuring safe and productive human-robot interaction.

Newton-meters (Nm): Used to measure rotational force (torque).
Newtons (N): Used to measure linear force.

4. Speed (Degrees/second, Radians/second, Millimeters/second)

The speed of the UR5e's movements are typically measured in degrees or radians per second for joint rotations and millimeters per second for linear movements in Cartesian space. These units are important for controlling the robot's velocity and ensuring smooth operation.

5. Acceleration (Degrees/second², Radians/second², Millimeters/second²)

Similar to speed, acceleration is expressed in units related to the type of motion. Angular acceleration (degrees/second² or radians/second²) controls the rate of change in joint speed, while linear acceleration (millimeters/second²) governs changes in Cartesian speed. Properly managing acceleration is essential to prevent jerky movements and maintain accuracy.

Understanding the Interplay of Units

It's important to understand that these units are interconnected. A change in joint angles directly influences the Cartesian coordinates of the end effector. Similarly, adjustments in speed and acceleration affect the overall trajectory and timing of the robot's movements. This interconnectedness is crucial for precise control.

Software and Unit Selection

The UR5e's programming software (PolyScope) allows you to select the desired units for both input and output. This flexibility is a key advantage for users, allowing them to tailor the interface to their preference and application requirements.

Conclusion: Mastering the Units of the UR5e

Mastering the various units used by the UR5e is crucial for anyone working with this versatile cobot. By understanding the relationship between joint angles, Cartesian coordinates, force, torque, speed, and acceleration, you can effectively program and utilize the UR5e's full capabilities for a wide variety of applications. Careful consideration of these units ensures safety, precision, and efficient operation.