# sample_IK_UR16e

**Repository Path**: xenos2020/sample_IK_UR16e

## Basic Information

- **Project Name**: sample_IK_UR16e
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-08-26
- **Last Updated**: 2024-08-26

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 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.

![image](https://user-images.githubusercontent.com/58029218/231768653-8d372e29-0603-4279-a48a-9854aff4a4c9.png)

![image](https://user-images.githubusercontent.com/58029218/231768692-8beda18d-625a-4d5e-ad41-c18a06f99d98.png)


### Usage

In Editor or Play mode move the IK gameobject.

![image](https://user-images.githubusercontent.com/58029218/231768581-8fc544e5-1a10-46d8-9c5c-56f96ce347c0.png)

tags: inverse kinematics UR16e unity UR UR16 UR3 IK 3D

## License

This project is licensed under the [MIT License](LICENSE).