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Doosan M1013 model has several axes that do not match real robot
#1
Hello,

I am using RoboDK's Doosan M1013 model and running a Doosan M1013 robot by direct control. However I noticed that the physical robot and RoboDK robot poses were mirrored somehow (see picture below).

[Image: Gk1LBba.jpg]

I tested by jogging joints and noting whether they were moving CW or CCW, it seems that joints 2, 3 and 5 have inverted directions.
Am I doing something wrong or is there a bug in the model or Doosan driver?

Regards,
Sungi
#2
Hi Sungi.

Thanks for bringing that to our attention.

Can you send us a few pictures please?
Robot at joints = [0,0,-90,0,0,0]
Robot at [30,30,-120,0,0,0]
Robot at [0,0,-90,30,30,0]

Thanks.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#3
Hi Jeremy, sure no problem, here you go:

[0,0,-90,0,0,0]
[Image: 15pJGtI.png]

[30,30,-120,0,0,0]
[Image: 3lbNFWR.png]

[0,0,-90,30,30,0]
[Image: 6ETP4e2.png]
Hope this is helpful,
Sungi
#4
Ok, thanks,
We'll fix that.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


  




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