07-29-2025, 12:50 PM
Hello RoboDK Community,
I’m currently setting up a multi‑DOF inspection and path planning system for my bachelor’s thesis and would appreciate your guidance on a few critical points.
System Overview
1. Teach Target on Surface with Hybrid System
When I try to use the “Teach Target on Surface” feature with the hybrid setup, RoboDK is unable to place the TCP correctly. It either throws an error or doesn’t respond. Is there a recommended workflow for using this feature with a synchronized multi-DOF system (robot + gantry)? Should I unsync the axes temporarily, or is there a better approach?
2. Target Display vs. Program Behavior
When I manually add a target (even with the correct reference frame and TCP selected), the target appears visually in the wrong place, often far from the surface. However, when I run the program, the robot still moves to the correct pose. Why is there a mismatch between the visual target placement and the actual program behavior?
3. Extracting All IK Solutions (10‑DOF) for Cost-Based Path Planning
Is there a way—via GUI or Python API—to extract all possible joint configurations (IK solutions) for each Cartesian target in my full 10‑DOF system (UR30 + gantry)?
My goal is to evaluate each solution using a custom cost function (considering joint limits, singularity avoidance, external axis motion, etc.) to justify the configuration choices in my path planning process for my thesis.
Summary
Best regards,
Yash
I’m currently setting up a multi‑DOF inspection and path planning system for my bachelor’s thesis and would appreciate your guidance on a few critical points.
System Overview
- Robot: UR30 (6 DOF)
- External Axes: 4‑DOF Gantry Portal (X, Y, Z linear + rotation)
- Tool: 3D industrial camera (range: 1200–3000 mm)
- Use Case: Full-scale rotor blade inspection
- Robot and gantry synchronize correctly when jogging manually.
1. Teach Target on Surface with Hybrid System
When I try to use the “Teach Target on Surface” feature with the hybrid setup, RoboDK is unable to place the TCP correctly. It either throws an error or doesn’t respond. Is there a recommended workflow for using this feature with a synchronized multi-DOF system (robot + gantry)? Should I unsync the axes temporarily, or is there a better approach?
2. Target Display vs. Program Behavior
When I manually add a target (even with the correct reference frame and TCP selected), the target appears visually in the wrong place, often far from the surface. However, when I run the program, the robot still moves to the correct pose. Why is there a mismatch between the visual target placement and the actual program behavior?
3. Extracting All IK Solutions (10‑DOF) for Cost-Based Path Planning
Is there a way—via GUI or Python API—to extract all possible joint configurations (IK solutions) for each Cartesian target in my full 10‑DOF system (UR30 + gantry)?
My goal is to evaluate each solution using a custom cost function (considering joint limits, singularity avoidance, external axis motion, etc.) to justify the configuration choices in my path planning process for my thesis.
Summary
- Best practice to use Teach Target on Surface with synchronized robot + gantry
- Why is there a mismatch between visual target placement and actual program movement?
- Ideal method/API to extract all IK solutions for a 10‑DOF system and evaluate them via a cost function
Best regards,
Yash