where can I find universal robot UR5e plant model?

I try to implement mpc for UR5e robotarm and for that I need plant model, couldn't find anywhere. Where can I find it ?

Answer 1

[Raj]

Hello,

I understand you aren’t able to find the model for universal robot UR5e robotarm.

You can use the ‘loadrobot’ function in MATLAB to load a rigid body tree robot model from the robot library.

robot = loadrobot("universalUR5e")

Additionally, you can refer to the documentation of ‘loadrobot’ function for a detailled idea

https://www.mathworks.com/help/robotics/ref/loadrobot.html?s_tid=doc_ta

I hope this resolves the query you had!