[davide_tiraboschi]

Hi everyone,

I am trying to create a twin kinematic model of an existing robot calibrated through RoboDK. I am having troubles whenever considering joints' compliances, so there are offsets between the data from RoboDK and the computed one using the twin model. I was wondering what are the units of the stifness in the attached figure. Also are such numbers related to stifness or compliance?

Thank you 

Davide

[Albert]

If your goal is to export the kinematic model from RoboDK to your robot I recommend to to remove the stiffness parameters. It is better to use the kinematic simplified set of parameters to export the kinematics to the robot controller.