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Yesterday, 03:20 AM
(This post was last modified: Today, 07:42 AM by Albert.)
When using a UR5 robot model in RoboDK with default DH parameters, I am able to select from other robot configurations using the "More options" button from within the UR5 panel. This shows a large number (16) different configurations.
However, when I use controller kinematics (from a URP file as per instructions), no alternative joint configurations are listed. Is this expected behavior?
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Yes, this behavior is expected because the inverse kinematics solution is iterative when you use the controller kinematics.
If you use the nominal model instead, the inverse kinematics solution is analytical and you can obtain all possible configurations.
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Is it possible to adjust the parameters used in the iterative solution when using controller kinematics, in the same way that the GUI allows when using nominal kinematics? Students are now encountering issues where move commands that previously worked on the physical robot using the nominal model now complain that positions are unreachable when using controller kinematics. We have also seen several other strange errors, including one that complained that a joint was moving through 180 degrees - again, an error that did not occur on the physical robot when using the nominal model.
