README.md
Universal Robots UR15
The Universal Robots UR15 is a high-performance, lightweight 6-axis collaborative robot (cobot) featuring a 15kg payload capacity, 1300mm reach and ±0.05mm pose repeatability.
The UR15 joins the UR20 and UR30 in Universal Robots' new high-performance series, the UR series, designed for those who need higher payloads, advanced capabilities and certifications for demanding environments. The UR15 is the fastest and most lightweight cobot of the UR series.
Applications include fast-paced pick-and-place, material handling, machine tending and precise assembly tasks. For pick-and-place applications, the UR15 delivers up to 30% cycle time improvements compared to other UR models.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 — Base |
-360° |
360° |
0° |
180°/s |
800°/s² |
| J2 — Shoulder |
-360° |
360° |
-90° |
180°/s |
800°/s² |
| J3 — Elbow |
-360° |
360° |
0° |
240°/s |
800°/s² |
| J4 — Wrist 1 |
-360° |
360° |
-90° |
300°/s |
800°/s² |
| J5 — Wrist 2 |
-360° |
360° |
0° |
300°/s |
800°/s² |
| J6 — Wrist 3 |
-360° |
360° |
0° |
300°/s |
800°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 5000mm/s
- Recommended maximum TCP linear acceleration: 2500mm/s²
- Recommended maximum TCP angular speed: 300°/s
- Recommended maximum TCP angular acceleration: 800°/s²
Notes
- The 800°/s² joint acceleration and 2500mm/s² linear acceleration values are Universal Robots' recommended programming ceilings, not fixed physical actuator limits.
- Achievable acceleration depends on the robot pose, payload, payload centre of gravity, TCP forces and trajectory.