# Finding 6 angles for UR5 a 6Dof Robot

I am looking for a method to find 6 rotation angles for the 6DOF, 6joint, 5 link UR5 robot. these angles would be used to control UR5 through ROS but unfortunately I cant find any way to find these angles. I have tried making its DH Matrix for base to end T0-6, but it becomes too complex after 3-4 matrix multiplication I cant Track it anymore.

I have T06, although it contains all the information of robot position and orientation but I do not exactly need that. I need the 6 angle which will drive my robot and provide it with rotation angle on each joint. Suppose a 6 joint(6DOF) robotic arm and you have to give specific angles for each of the joints from base to end effector in order for the robotic arm to move to a specific position. I need a way to extract those 6 angles form a given T06 matrix.

This is the link to a pdf explaining the inverse kinematics of UR5, please refer this: https://tianyusongcom.files.wordpress.com/2017/12/ur5_inverse_kinematics.pdf

Please advise a good and short solution or a method to solve this problem. Thanks

• Welcome to Robotics umar anjum, but I'm afraid that it is not clear what you are asking. We prefer practical, answerable questions based on actual problems that you face, so it's a good idea to include details of what you want to achieve, what you tried, what you saw & what you expected to see. Please take a look at How to Ask & tour for more information on how stack exchange works and work through the Robotics question checklist to edit your question to make it clearer.
– Ben
Feb 7, 2022 at 1:08
• It is unclear to me exactly what you are looking for. Are you trying to do IK, where you input a desired end-effector pose and then get the joint angles for that configuration? Or are you trying to build the Jacobian matrix so that you can input an end-effector velocity, and get the joint velocities to move in that direction?
– Ben
Feb 7, 2022 at 1:20