[Sungi]

Hello,

I am using RoboDK's Doosan M1013 model and running a Doosan M1013 robot by direct control. However I noticed that the physical robot and RoboDK robot poses were mirrored somehow (see picture below).



I tested by jogging joints and noting whether they were moving CW or CCW, it seems that joints 2, 3 and 5 have inverted directions.
Am I doing something wrong or is there a bug in the model or Doosan driver?

Regards,
Sungi

[Jeremy]

Hi Sungi.

Thanks for bringing that to our attention.

Can you send us a few pictures please?
Robot at joints = [0,0,-90,0,0,0]
Robot at [30,30,-120,0,0,0]
Robot at [0,0,-90,30,30,0]

Thanks.

Jeremy

[Sungi]

Hi Jeremy, sure no problem, here you go:

[0,0,-90,0,0,0]


[30,30,-120,0,0,0]


[0,0,-90,30,30,0]

Hope this is helpful,
Sungi

[Jeremy]

Ok, thanks,
We'll fix that.

Jeremy

[j_cso]

Did this get fixed? Last message was from November 2021 and the Doosan-M1013.robot file on the website matches the one in my install that's dated October 2021.

[Alex]

谢谢你带这你r attention. It seems we updated the model in our online library but not in the local installation.
You can download the updated model here://www.sinclairbody.com/robot/Doosan-Robotics/M1013

We will fix the local library in our next update.

[Jeremy]

You should delete the M1013 robot from your local library first (C:/RoboDK/Library)