[Kamy]

I have modeled my own 6DOF robot with Solidworks and i have successfully imported in RoboDK.

I'm getting help of an AI to calculate my robot IK mathematical calculations. Actually I have basic knowledge of robotics and have some questions.

1- for this purpose in my robot parameters page which option must be chosen for this fields:
        1-1:Robot join behavior:?
        1-2:Euler angle type:?
        1-3:post processor :?

2- In panel for "tool frame with respect to reference frame: ?"

3- Do you have any other idea to help me in this path? I'll appreciate it.

I hope some one already passed this way and his ideas to be my way light.

Thank you in advanced for any help on this subject.

[Albert]

Here are some brief guidelines for your custom robot model:

1. Robot joint: Properly set the correct joint senses to match your robot controller convention.
   
2. Euler angle type: This does not have an impact on the robot kinematics but how the tool, frame and target poses are represented as XYZWPR values.
   
3. Post processor: You can customize a post processor that fits your robot controller. RoboDK allows modifying post processors to generate custom programs for your controllers communication protocol. You can find more information here:https://robodk.com/doc/en/Post-Processors.html
   
4. Tool frame with respect to the reference frame: this is the position of your active TCP with respect to the active reference frame. More information here: https://robodk.com/doc/en/Basic-Guide.html#RefFrames
   

You can find more information on how to model custom mechanisms in RoboDK here:
https://robodk.com/doc/en/General.html#ModelRobot