02-28-2023, 02:31 PM
For linear movement I use, with x,y,z in mm:
newPose = KUKA_2_Pose([x,y,z, 0, 0, 0]) * robot.Pose()
robot.moveL(newPose)
So let me show you an example, I want to do a linear translation in z-direction wrt the robot base (x = 0, y = 0, z = -10):
The initial pose of the tool frame wrt the reference frame from RoboDK equals [ 1965.000000, 0.000000, 1570.000000, 0.000000, 90.000000, -0.000000 ]
After the jogging request, the pose from RoboDK equals [ 1965.000000, 0.000000, 1560.000000, 0.000000, 90.000000, -0.000000 ]
So the result of the target pose calculation matches my expectation, therefore, I don't think it has something to do with the calculation. I also validated the frame I am working in, this is also correct. Could it be that the .rdk robot file (which was a second version only) does not exactly match the real robot? Maybe one or multiple joint inputs are inversed compared to the real Kuka?
newPose = KUKA_2_Pose([x,y,z, 0, 0, 0]) * robot.Pose()
robot.moveL(newPose)
So let me show you an example, I want to do a linear translation in z-direction wrt the robot base (x = 0, y = 0, z = -10):
The initial pose of the tool frame wrt the reference frame from RoboDK equals [ 1965.000000, 0.000000, 1570.000000, 0.000000, 90.000000, -0.000000 ]
After the jogging request, the pose from RoboDK equals [ 1965.000000, 0.000000, 1560.000000, 0.000000, 90.000000, -0.000000 ]
So the result of the target pose calculation matches my expectation, therefore, I don't think it has something to do with the calculation. I also validated the frame I am working in, this is also correct. Could it be that the .rdk robot file (which was a second version only) does not exactly match the real robot? Maybe one or multiple joint inputs are inversed compared to the real Kuka?