Hello there.
I'm making new robot mechanism for robot simulation and i imitated ESI C7.
Here is problem.
After finished making Mechanism and i checked joint moves properly.
But "Tool Frame with respect to Reference Frame" gose other way(not following Arrow).
06-22-2023, 01:53 PM (This post was last modified: 06-22-2023, 01:55 PM by Olivier.)
These robots use an iterative kinematic since the wrist is not aligned with the base Z axis (value in d5).
I suspect this problem happens if you try to modify the robot after it's creation, this happen only with robot using iterative kinematic.
I suggest re-creating the robot with all the correct values in the DH parameters. If you need to modify it after, you might need to re-create it for the kinematic to work correctly.
How do I define a wrist that is not aligned on the z-axis? (D5)
I couldn't put in the D5 value when I was writing the industrial 6-axis robot, so I modified the parameter value afterwards.
If possible, I would like to know your work process.
I attached a picture of converting a 3d file into 2d and creating a distance value.
06-23-2023, 08:12 AM (This post was last modified: 06-23-2023, 08:14 AM by KyuWan.)
I didn't know what version the company has, so I updated it to version 5.5.0
Licenses are applied and d5 values can be added.
I'll try again when I get to work next week.
Thanks once again.
06-27-2023, 12:59 AM (This post was last modified: 06-27-2023, 01:00 AM by KyuWan.)
Problem solved!
After v5.4 i can added d5 value.
New in RoboDK v5.4.0 (2022-02-07)
* Improved the "Model mechanism or robot" menu
* Added option to model parameter d5 when building a 6-axis robot arm
* Improved Omron posts
* Officially updated/refactored the Python API (GitHub)
