Hi everyone,
I'm modeling a 6-axis collaborative robot similar to a UR arm in RoboDK — specifically the RO3 Max from Standard Robots. I’m using the “6-axis collaborative robot” template and manually entering the kinematic parameters based on the CAD model and manufacturer-provided dimensions.
The second joint (Joint 2) is not behaving as expected. Instead of rotating in the vertical plane (like a crane lifting the arm upward), it rotates in the same plane as Joint 1, as if both shared the same Z-axis. This causes the long vertical link to rotate incorrectly and leads to misalignment in the entire arm.
What I’ve tried:
[*]Adjusting Δθ₂ to 0°, ±90°, etc.
[*]Modifying Δθ₃ to reflect the change of plane.
[*]Using the following D-H parameters (based on real measurements):
When visualizing local axes, the Z-axis of Joint 2 doesn’t appear properly rotated relative to Joint 1. It seems like the coordinate frame of Joint 2 is not perpendicular to the one before it, even after testing several Δθ adjustments.
I need Joint 2 to rotate in a vertical plane, properly lifting the long link upward as in a typical UR5/UR10 configuration. Any advice, example files, or frame orientation tips would be greatly appreciated.
Thanks in advance!
Happy to share screenshots, files, or CAD models if needed.
I'm modeling a 6-axis collaborative robot similar to a UR arm in RoboDK — specifically the RO3 Max from Standard Robots. I’m using the “6-axis collaborative robot” template and manually entering the kinematic parameters based on the CAD model and manufacturer-provided dimensions.
The second joint (Joint 2) is not behaving as expected. Instead of rotating in the vertical plane (like a crane lifting the arm upward), it rotates in the same plane as Joint 1, as if both shared the same Z-axis. This causes the long vertical link to rotate incorrectly and leads to misalignment in the entire arm.
What I’ve tried:
[*]Adjusting Δθ₂ to 0°, ±90°, etc.
[*]Modifying Δθ₃ to reflect the change of plane.
[*]Using the following D-H parameters (based on real measurements):
When visualizing local axes, the Z-axis of Joint 2 doesn’t appear properly rotated relative to Joint 1. It seems like the coordinate frame of Joint 2 is not perpendicular to the one before it, even after testing several Δθ adjustments.
I need Joint 2 to rotate in a vertical plane, properly lifting the long link upward as in a typical UR5/UR10 configuration. Any advice, example files, or frame orientation tips would be greatly appreciated.
Thanks in advance!
Happy to share screenshots, files, or CAD models if needed.
