[Prerna Khambhayata]

  Screenshot 2025-06-09 121802.png (Size: 112.91 KB / Downloads: 26)
  Screenshot 2025-06-09 124427.png (Size: 167.45 KB / Downloads: 28)
  Screenshot 2025-06-09 124500.png (Size: 87.83 KB / Downloads: 27)
  Screenshot 2025-06-09 124500.png (Size: 87.83 KB / Downloads: 27)
Hello everyone,

I'm working with the Borunte BRTIRUS1510A 6-axis robot in RoboDK, and I’ve encountered an issue with the flange orientation (Joint 6).

🔍 Problem:

The robot loads successfully in RoboDK, and all joint limits and DH parameters (d1=488, a2=650, a3=162, d4=634.4, d6=117) are configured properly. However, the flange coordinate system at J6 appears rotated incorrectly — specifically:

• Z-axis (blue) is not pointing outward from the flange (it points into the robot or sideways).
  
• X and Y axes are also misaligned with the flange’s mounting face.
  

This causes tools to mount in the wrong direction and leads to incorrect simulation and collision errors.
🧪 What I’ve Tried:

• Adjusted the TCP pose manually (e.g. [0, 0, 117, 180, 0, 0])
  
• Tried rotating the tool frame and changing Euler angles
  
• Attempted to modify the flange reference frame inside the robot definition
  

None of these fixes resolved the issue — the tool still appears mounted incorrectly.

❓ Request:
Can anyone with experience on:

• Custom robot definitions in RoboDK
  
• Borunte robots (especially BRTIRUS1510A)
  
• Tool/Flange frame alignment
  

…help me figure out the correct flange reference frame or transformation to fix this?
I’d greatly appreciate any insights, correction matrices, or RoboDK settings/scripts that can help resolve this.
Thanks in advance!

[Sergei]

The resulting TCP position is sensitive to all DH parameters (not just TCP offsets)
It looks like the actual link displacements do not match the DH parameters used (or the whole model does not match the DH parameters used)
A detailed robot creation tutorial can be found here:

https://robodk.com/doc/en/General.html#Model6axis

Also, if you could share your robot, 3D model, and datasheet, we could take a look at it.