09-10-2020, 12:12 PM(This post was last modified: 09-10-2020, 12:43 PM byMitja GOLOB.)
Hello!
RoboDK provides easy access to the DH parameters of the robot (in our case UR5). Basically, the RoboDK environment provides access to themodifiedDH parameters. We would need information about thereal standardDH parameters. It is possible to obtain information about therealstandardDH parameters?
I found how we can get DH parameters (nominal-real / DH-MDH). However, I noticed that the parameters in the different command windows do not match. Maybe does anyone know why such a difference (see picture below - in the attachment)?
09-14-2020, 09:51 AM(This post was last modified: 09-14-2020, 09:52 AM byMitja GOLOB.)
Hello!
Does anyone know why this difference occurs?
I would also expect that the real (from the robotic controller) values of the DH-parameters would be slightly different, depending on the nominal model. In this case, the real values of the DH-parameters almost match with the values of the nominal model!
Does 'Accurate' refer to real (robotic controller) DH-parameter values?
I see, you updated your robot kinematic with RoboDK. These values won't match. We've used tools that we already had for calibration in order to do the UR kinematic update, but that makes theses values unusable. These values only make sense if the calibration is done using a laser tracker or an optical CMM.
09-23-2020, 05:17 AM(This post was last modified: 09-23-2020, 05:20 AM byMitja GOLOB.)
Hello!
Thanks for the information.
If I understand correctly now, the MDH parameters are refreshed in the command window 'Robot Parameters'. However, the values in the command window'UR5-Export Robot Kinematics'are incorrect.
We would like to get updated values of DH (not MDH) parameters for our UR5 robot. Is there (in the RoboDK) then any possibility to get updated DH-parameters?
