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I am trying to model the KUKA LWR IV+ in RoboDK. I have the STEP Files for the robot and everything works when i model it. But i would like to know if i could modify the robot such as when the robot is at the vertical position( as seen in the photo ) the robot's joint are [0, 90, 0, 0, 0, 0, 0] and not [0, 0, 0, 0, 0, 0, 0]. I have tried reposition the robot at the flat horizontal position (as seen in the second and third picture) and setting the build joint for the second joint at 90 and the home position and it worked for the 2 first joints but the other joint rotate at different axis and the parts of the robot are "flying around". Is there a way to program this ?
UPDATE: For anyone searching this, i changed the Δθ2 angle to -90 to match the robot's position and it worked.
Hi Konstantinos,

Thank you for letting us know.


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