02-28-2023, 02:55 PM
I will try to explain it better one more time. The calculations for the jogging methods (both linear and rotational) are correct. I validated this by testing the Python API on the RoboDK simulation without the real Kuka connected. This works perfectly.
However, as soon as I run the simulation with the real Kuka connected, unexpected movements occur, even if the same movements as for simulation only (without the robot connected) that used to work well are requested. So the problem lies in the connection between RoboDK and the real Kuka. The moveL(target) that is sent to RoboDK works without the real Kuka connected only. But those movements do not match the unexpected movements of the real Kuka.
结论:慢跑API仅适用于模拟, as soon as the real robot is connected, the real robot has unexpected non linear movements.
However, as soon as I run the simulation with the real Kuka connected, unexpected movements occur, even if the same movements as for simulation only (without the robot connected) that used to work well are requested. So the problem lies in the connection between RoboDK and the real Kuka. The moveL(target) that is sent to RoboDK works without the real Kuka connected only. But those movements do not match the unexpected movements of the real Kuka.
结论:慢跑API仅适用于模拟, as soon as the real robot is connected, the real robot has unexpected non linear movements.