[Zhang Guoquan]

Dear everyone,

I found that under the same joint values and TCP settings, there is a deviation in the TCP data calculation results of RoboDK and URrobot controllers. Additionally, I have updated the robot parameters in RoboDK based on the DH model data found in the robot controller support files, which are shown in the attachment. Finally, I have a UR10e and a UR5, they both have this problem. 

Looking forward to suggestions from relevant experts.

Best Regards!

Guoquan Zhang

[Albert]

Each UR controller has unique robot kinematic parameters because each robot is calibrated.

You should follow these steps to load the controller kinematics into RoboDK:
https://robodk.com/doc/en/Robots-Univers...Kinematics

[Zhang Guoquan]

Each UR controller has unique robot kinematic parameters because each robot is calibrated.

You should follow these steps to load the controller kinematics into RoboDK:
https://robodk.com/doc/en/Robots-Univers...Kinematics

Dear Albert

Thanks for your reply！

I finally solved the problem with this method. Firstly, I try to modify the DH model by directly changing data in the 'parameters' of the robot object, like the method in the picture below. I guess this may be because the two use different DH model methods. Besides, I find this method from the Chinese documentation. I hope this can help you improve the documentation.

Best regards

Guoquan Zhang

[Albert]

Perfect, thank you for letting us know!