[cathylee6905]

Hello,

I encountered a similar issue to the one discussed by another user in this thread: https://robodk.com/forum/Thread-TCP-problem-UR3-robots.

When I read the Cartesian position for a specific TCP configuration on the real TM12 robotic arm, I noticed a 1 to 2mm deviation from the position set by the RoboDK API.

I wondered if the TM robotic arm also has its unique kinematics and if I need to extract a specific file. Can anyone provide some guidance on this matter?

Thanks in advance.

[Albert]

The kinematics of each TM robot is unique and you may see these small TCP discrepancy.

This should not affect offline programming. For example, if you program a path using linear movements and Cartesian values, the robot will apply its kinematics to try to follow the path as accurately as possible.

[cathylee6905]

Thank you sir. However, I still have a programming challenge and would appreciate some guidance on how to address it.

The program involves moving the TM12 to a linear position and then applying a Cartesian offset (e.g., z_offset) relative to the read Cartesian position from the real robotic arm. However, this approach leads to cumulative deviations in the x and y coordinates over multiple iterations due to the deviation between the set TCP and the exact TCP. As a result, the trajectory becomes non-linear.

Could you provide some guidance on this issue, such as how to obtain the exact kinematics of TM12 with roboDK and then apply them to RoboDKApi?

Thank you so much.

[Albert]

I don't understand what is it that you are trying to accomplish.

Can you share your RoboDK project? Are you using the driver to collect points? I recommend you to program the nominal path in RoboDK and then export it to the robot controller.