[ajayteja]

I'm trying to model a 6-axis Industrial robot (similar to a Doosan cobot) in RoboDK, and I've run into a limitation with the standard DH-based industrial robot mechanism.
In my robot’s design:

• J1 is not directly below J4 or J6.
  
• J4 and J6 are aligned along the Z-axis, but this axis is laterally offset by 10 mm in Y from J1.
  
• This creates an issue when using the 6-axis industrial robot mechanism, which assumes a symmetric inline configuration.
  

I tried switching to the 6-axis collaborative robot mechanism, which supports base and tool frame offsets. However, I’m still unclear on how to best represent the lateral offset of J4 and J6 with respect to J1 using the DH parameters and the base/tool shift settings in RoboDK. Still confused if I’m handling the offset properly, especially since standard DH doesn’t allow offset between J1 and J4. 
I'd really appreciate any tips from those who’ve faced similar robot configurations.
Thank You.

[Albert]

You could open a similar robot that is available in the library (like the Doosan robot you mentioned) and check the parameters that we used to model that robot to create your robot model.