[Robert Sivell]

Good afternoon,

Is it possible to view the 'inverse kinematics' equations/code for the RoboDK implementation of the Omron TM25S?

Due to the reposition of J4 compared to other Omron TM-S Series Cobots, I understand the 'inverse kinematics' equations are slightly different?

Also, I understand with the TM25S it is more prone to singularities.

How does RoboDK handle this?

Thank you in-advance, for your help.

Best Regards,

Robert Sivell

[Albert]

The Omron TM robots are each calibrated by default and the nominal kinematics may change from one robot to another.

What discrepancies did you find? Usually this is in the order of 1-2 mm and it should not affect programs generated using Cartesian targets.

Our equations or code for the solution of inverse kinematics is not open but we look forward to improving this if necessary.