09-10-2020, 12:12 PM (This post was last modified: 09-10-2020, 12:43 PM by Mitja GOLOB.)
RoboDK provides easy access to the DH parameters of the robot (in our case UR5). Basically, the RoboDK environment provides access to the modified DH parameters. We would need information about the real standard DH parameters. It is possible to obtain information about the realstandard DH parameters?
I found how we can get DH parameters (nominal-real / DH-MDH). However, I noticed that the parameters in the different command windows do not match. Maybe does anyone know why such a difference (see picture below - in the attachment)?
09-14-2020, 09:51 AM (This post was last modified: 09-14-2020, 09:52 AM by Mitja GOLOB.)
Does anyone know why this difference occurs?
I would also expect that the real (from the robotic controller) values of the DH-parameters would be slightly different, depending on the nominal model. In this case, the real values of the DH-parameters almost match with the values of the nominal model!
Does 'Accurate' refer to real (robotic controller) DH-parameter values?
I see, you updated your robot kinematic with RoboDK.
These values won't match.
We've used tools that we already had for calibration in order to do the UR kinematic update, but that makes theses values unusable.
These values only make sense if the calibration is done using a laser tracker or an optical CMM.