07-06-2023, 05:35 PM
We use code from a 3rd-party that uses axial offsets when computing inverse-kinematics. The offsets for UR10e robot are below. I tried to understand what joints those offsets match to. I found this website with the Axial Offsets, but I don't understand what are d1,a2,ar3....
I also need to find axial offsets for Yaskawa HC10. Does anyone know what these offsets are and where to get them?
I also need to find axial offsets for Yaskawa HC10. Does anyone know what these offsets are and where to get them?
Code:
d1: 0.181
a2: -0.613
a3: -0.571
d4: 0.174
d5: 0.120
d6: 0.117