[maroua.laroussi]

Hello,

I’m currently working with a KUKA KR 6 R700 sixx and facing an issue with the flange frame alignment between the physical robot (as seen on the teach pendant) and the virtual model in RoboDK.

Both robots (real and virtual) are in the home position, but I noticed that the flange frame pose displayed on the teach pendant is different from what RoboDK shows. I’ve attached screenshots for reference.

To correct this, I attempted to calculate the necessary transformation (rotation + translation) using a MATLAB script (attached image). I then input the resulting values under Robot → Parameters → Tool (Flange) in RoboDK. After doing this, the position (XYZ) appears to match, but two of the Euler angles are still significantly off. Did I calculate the 6 values (XYZ and Euler angles) incorrectly? Is this the right approach to align the flange frame? How should I correctly adjust the flange pose so that both systems are fully aligned?

Thanks in advance!

Best regards,

Maroua

[Albert]

Do you mean the Euler angles are different if you compare RoboDK and your KUKA controller?

If so, all poses have 2 different representations of Euler angles and they are both valid. You may see one set of Euler values and another one in the robot controller.

If you create a target with both sets of Euler angles and move through those target you'll see that the robot doesn't move.