[Aditya Phadtare]

I am currently working on Dobot Magician E6 robot with educational license of RoboDK. I have connected the robot to RoboDK using TCP mode, also I am using a suction cup I have also created the work station and tool with exact dimensions, and my tool is simply creating a z direction offset hence I am not using Tool Center positioning (I have used Tool Center positioning before it shows the exact value with minor decimal offset).

My problem is that when I try to use 'Run on Robot' it moves the robot exactly like simulation but it then collides or does not reach the point it is supposed to be at first (here I have used manual jog to see where my robot lands when I try to bring him out to touch outer most corner but it doesnt shows up in software).

I though I may have not calibrated the robot correctly so I ran a calibration using Dobot studio and then on RoboDK for TCP using 8 points while removing all the points with high error on the graph then also the error persists and also I am seeing huge difference between the cordinates between RoboDK and Dobot studio which might be the reason that it is showing the errors also the joint angle and base cordinate reference is same for both software then the x y z cordinates should also be same but it isnt please help RoboDK team.

[Albert]

It could be that the base and/or the tool is off by 180 deg or so. Could you send us a list of points providing the joint values and the Cartesian values of the tool flange with respect to the robot base? We can make sure the robot is properly modelled. It would be best to start with the home position and move one axis at a time by 10 degrees or so.

[Aditya Phadtare]

i have tried to move each joint one by one please have look at the pdf

[Albert]

Thanks for such detailed information. It looks like the tool RZ was off by 180 deg and the Euler format was not properly set.

You should follow these steps to fix the kinematics issues.

1. Senect Parameters.
   
2. Check the option Unlock advanced options
   
3. Set Euler Angle type: Generic
   
4. Set the tool frame RZ value to 180 deg
   

See the attached image:
   
We'll soon fix this in the library and let you know.

[Aditya Phadtare]

The coordinates from Dobot Studio still do not match those from RoboDK. I know that the values provided by RoboDK are correct, but Dobot Studio seems to be interpreting them incorrectly. Can you suggest any solutions?

[Albert]

I understand you are using the driver.

Did you set the user coordinate system and the tool at zero on the real robot?

Can you try generating a program and running it on the robot?

[Aditya Phadtare]

I have set both base and tool to zero in Dobot studio but the issue still remains while running robot on driver as well as on generated program.


and can you also explain how do we turn on the tool also using robodk

[Aditya Phadtare]

After investigating the dobot_api_v4.py file, I tried printing the generated string. I realized that the joint values were always consistent between RoboDK and Dobot Studio, but there was a mismatch between the position values in RoboDK and Dobot Studio. Hence, I tried to force the robot to use MoveJ(pose=...), and it was consistent, but it was still populated with the joint values from RoboDK, which is not desired.

(It is risky to perform this test. Please use only positive joint angles with higher values so that the robot doesn't slam into the ground.)

So, is there any way to populate my MoveJ command using only the position values, as the joint angles are not giving me the correct output?

although why it is happening is some thing related to the DH parameter itself i guess
api edited code
after editing api
dobot studio