02-28-2023, 10:55 AM
(This post was last modified: 02-28-2023, 11:00 AM byluuk_endlich.)
Hi,
Via Python API I am trying to jog the robot with both linear and rotational movements in/around x, y, z. In the RDK simulation, when the robot 'Kuka 150 KR 2700-2' is not connected, jogging via Python works exactly as expected for both linear and rotational movements. I calculate the new poses via the following code, followed by executingMoveJandMoveL.
linear: newPose = transl(x, y, z) * robot.Pose()
rotational: newPose = robot.Pose() * rotx(..) * roty(..) * rotz(..)
However, when I connect to the Kuka, the requestedlinearjogging movements result in unexpected movements (x,y,z translations, a,b,c rotations, rather than only the requested translation). The rotational jogging movements do work as expected for both simulation and the Kuka.
I checked the cartesian coordinates and the joint values for the Kuka and RDK, and they match. I tried to modify theKuka KR 150 R2700-2via RDK and found here that theBase reference, Base, joint 1,..., joint 6不选择正确的部分the robot (see image attached). Could this be a mistake in the RDK file that was sent to me? Or do you have any other idea what could be the reason for this mismatch? Thank you in advance!
Via Python API I am trying to jog the robot with both linear and rotational movements in/around x, y, z. In the RDK simulation, when the robot 'Kuka 150 KR 2700-2' is not connected, jogging via Python works exactly as expected for both linear and rotational movements. I calculate the new poses via the following code, followed by executingMoveJandMoveL.
linear: newPose = transl(x, y, z) * robot.Pose()
rotational: newPose = robot.Pose() * rotx(..) * roty(..) * rotz(..)
However, when I connect to the Kuka, the requestedlinearjogging movements result in unexpected movements (x,y,z translations, a,b,c rotations, rather than only the requested translation). The rotational jogging movements do work as expected for both simulation and the Kuka.
I checked the cartesian coordinates and the joint values for the Kuka and RDK, and they match. I tried to modify theKuka KR 150 R2700-2via RDK and found here that theBase reference, Base, joint 1,..., joint 6不选择正确的部分the robot (see image attached). Could this be a mistake in the RDK file that was sent to me? Or do you have any other idea what could be the reason for this mismatch? Thank you in advance!