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Modify kinematic parameters dynamically or create targets as variables

Is there any workaround to modify kinematic parameters dynamically? I have the measurements and I know the deviation of each robot joint during the warm-up period and I would like to modify the kinematic parameters as a function of time or temperature. Or it is possible to create the targets as variables (via script or a modified post processor ?). 

What I am trying to achieve is to correct the robot targets or joint values during the warm-up period in hope of improving at least a little the robot's repeatability or precision. 

Does anyone knows if it is possible to add such a parameter in the robot programming file (external temperature or at least a time counter from the robot start) and create some variables function of these?

Best regards,
Hi Cozmin,

Take a look at this:

Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel

Hello again,

I am still struggling a little with trying to modify some kinematic parameters of IRB 140 robot. Is there any way to model a mechanism that has more parameters ? What I mean is I have placed the reference frame of each joint as close as I could in their real positions.  That means reference frames are not all aligned in a middle plane.

Do you think is any workaround to create such mechanism and compute inverse-kinematic?
Check attached images, it will be much clear what I mean.

Thank you,

Attached Files Thumbnail(s)
Replied only to keep the post alive. Still interested in the second reply (the one with the picture attached). Thank you.
Maybe you are looking for the d2 parameter to model robots like Staubli robots?

Otherwise, it is not possible to have different internal references.

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