[fmonbrun]

Hello,

I use an UR10 and to get the same tcp values as the real robot (teach pendant), I used the script UR_LoadControllerKinematics.pt to import the Denavit Hartemberg parameters of the robot under robodk robot.

It works fine but I do not have the choice on robot configuration when the controller kinematic is enabled.

Is there a way to compute all the configuration possibilities with controller kinematics enabled ?

- controller kienmatics disabled

  2020-07-03_143113.jpg (Size: 241.45 KB / Downloads: 677)

- controller kinematics enabled

  2020-07-03_143017.jpg (Size: 217.7 KB / Downloads: 644)


Thanks for your support

Florent

[Albert]

Hi Florent,

This is currently not possible. This happens because the inverse kinematics is iterative if you activate the UR controller kinematics.

In any case, we'll try to add it as an option in the near future.

Albert