[Strider]

Dear members,

for our two 6-axis-robots there is a coupling of joints to implement. 

At the first robot joint of axis 6 is coupled -1:1 to joint of axis 5.

At the second robot joint of axis 5 is coupled 19:1880 to joint of axis 4, joint of axis 6 is coupled -57:3798 to joint of axis 5 and joint of axis 6 is also coupled -57:3798 to joint of axis 4.

In the RoboDK help i could only find the possibility to couple axis 2 to axis 3. 

I found in the documentation the possibility to couple the joints of axis 2 to axis 3 (https://robodk.com/doc/en/General-How-co...ether.html).

Is there a way to integrate the coupling also for other joints?

[Albert]

You can couple axes 2 and 3 as you mentioned. You can also find more information here:
https://robodk.com/blog/robot-axis-coupling/

If the coupling of the axes affects the motors you can force splitting joint movements into smaller movements by following these steps:

1. Select Tools-Options
   
2. Select the Program tab
   
3. Set maximum step size in deg to 2 deg or so
   

This will force the real robot movements to match the simulation.

[Strider]

Dear Albert,

thank you for the answer. Unfortunately it is not the answer to the question if there is a possibility to couple different joints than axis 2 and axis 3. 

Or did I misunderstood the documentation in the link? It is only referring to axis 2 and 3.

So, how to couple other axis, so specificly the joints of axis 6 and 5 in an rate of -1:1?

[Albert]

It is not possible to couple axes other than 2 and 3.

However, with robot calibration you can find the coupling ration for other joints, including the combination of joints 4, 5 and 6. However, you should perform robot calibration to obtain these ratios and simulate them.

[Mrigaud]

I'm currently facing the exact same issue where I need more joints to be coupled than just 2 & 3. 
Is there a way to implement this with macros or a Python script? Or maybe in the post processor (I use Arctos for my project)?

Strider, did you find a solution ? 

Many thanks in advance for your answer!

[Albert]

The easiest way to program robots that have custom couplings is to implement this behavior in the post processor. On the simulation it will have no coupling but when you generate programs for your robot controller this will be accounted for. You can learn more about post processors here:
https://robodk.com/doc/en/Post-Processors.html#EditPost

[Mrigaud]

Thanks for your quick answer, I will try to do that !

Just so I know, is thea ability to couple other joints than 2&3 a functionnality that you guys plan to add in the (near?) future ?
It is soooo easy to do it on the software :)

Kind regards

[Albert]

Thank you for your feedback. We'll consider this. It is easy to implement generic coupling but it is not so easy to make a nice user interface that allows users to easily configure it.

[Mrigaud]

Alright, thanks ! :)