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I am looking to get clarification on what exactly RoboDK outputs in a program. For example, using a Kuka robot, the RoboDK program will contain a list of Kuka move commands with XYZABC poses as the inputs. This program can then be moved to the Kuka controller and executed. So, does RoboDK actually pass inverse kinematic solutions to the Kuka controller, or does the Kuka controller perform the calculations based on the XYZABC poses?
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When you generate a program for a robot controller, it is better to have Cartesian positions for linear movements (LIN movements with XYZABC values for a KUKA controller for example) and Joint values for joint movements (PTP using J1-J6 joint values for a KUKA controller for example).
The inverse kinematic calculations performed by RoboDK should match the same calculations performed by the controller (assuming the robot has properly been selected/modelled in RoboDK).
