02-28-2023, 12:44 PM
(This post was last modified: 02-28-2023, 01:28 PM byluuk_endlich.)
Hi Albert,
Thank you for your quick response! I see your point about the order of translation and rotation and I modified my code such that it is respected now.
Unfortunately, again this works fine in simulation only, even when the correct 'currentPose' and 'newPose' are printed when I am connected to the Kuka. Still, the Kuka shows unexpected rotational movements not ending in the pose I send to MoveL, so it seems that the Kuka does not process the result of MoveL(newPose) correctly. Could it be the wrong settings in Modify robot (the picture I attached to the previous post)? Or do you have any other idea why this difference between RoboDK and Kuka is shown? Thank you!
In addition: the real Kuka seems to move to the correctly calculated pose, but from a different angle (exactly the opposite). So could it be the case that there is a mismatch in the Kuka.rdk robot file (joint angle definitions) compared to the real robot?
Thank you for your quick response! I see your point about the order of translation and rotation and I modified my code such that it is respected now.
Unfortunately, again this works fine in simulation only, even when the correct 'currentPose' and 'newPose' are printed when I am connected to the Kuka. Still, the Kuka shows unexpected rotational movements not ending in the pose I send to MoveL, so it seems that the Kuka does not process the result of MoveL(newPose) correctly. Could it be the wrong settings in Modify robot (the picture I attached to the previous post)? Or do you have any other idea why this difference between RoboDK and Kuka is shown? Thank you!
In addition: the real Kuka seems to move to the correctly calculated pose, but from a different angle (exactly the opposite). So could it be the case that there is a mismatch in the Kuka.rdk robot file (joint angle definitions) compared to the real robot?