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Kinematic calculation deviation between RoboDK and UR robot controller

#1
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


Attached Files Thumbnail(s)
       

.rdk   Kinesiology.rdk (Size: 3.24 MB / Downloads: 117)
.txt   urcontrol.conf.txt (Size: 1.95 KB / Downloads: 96)
#2
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
#3
(02-29-2024, 09:04 AM)Albert Wrote: 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


Attached Files Thumbnail(s)
   
#4
Perfect, thank you for letting us know!
  




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