[Deo Kibira]

Hi,
I have enclosed a simple figure and i would like to have a physical explanation for the angles that are displayed when I load the UR5 robot into RoboDK. I think that if the rotations are wrt the base, the angles should either be 0 or 90 deg. What do these figures encircled in the jpg attachment mean?

Thanks

[Jeremy]

Hi Deo,

That's simply the Euler Angles format UR decided to use. I don't find it very intuitive, so I generally work with a more generic Euler Angles format within RoboDK (not that it won't affect the generated program).
Simply select the dropdown menu and chose a more generic format like rot[Z,Y',X''] or simply rot[X,Y,Z].

Jeremy

[Deo Kibira]

Hi,
I have enclosed a simple figure and i would like to have a physical explanation for the angles that are displayed when I load the UR5 robot into RoboDK. I think that if the rotations are wrt the base, the angles should either be 0 or 90 deg. What do these figures encircled in the jpg attachment mean?

Thanks

Thanks. But seems to give answer for different type of robot (Funac/Motoman).

In any case, what is the appropriate function in Matlab to Calculate the p[x,y,z,u,v,w] position with rotation vector for a pose target. The function pose_2_UR(pose) gives error messages.

[Jeremy]

机器人品牌我ndicated are just because Fanuc/Motoman or Kuka/ABB/Nachi use this Euler Angles format.
I use those inside RoboDK because they simply make more sense.

If you have an issue with Matlab API, you should start a post in the API section of the forum.

Jeremy