12-30-2019, 02:25点
I followed the instructions to update kinematics on our UR10 robot (created a program from scratch on the teach pendant, saved to USB drive, ran UR_LoadControllerKinematics.py script) and got a message "Warning! Something does NOT look right..."
The Robot Parameters screen tells me that default kinematics will give a 36.489mm numerical error relative to the updated kinematics.
If I align my end effector with the robot J6 flange using default kinematics, and then enable updated kinematics, the end effector in my RoboDK station appears to be offset approx. 22mm in the +X direction and rotated approx. -12 degrees about the Z-axis.
I have tried re-running the updated kinematics procedure several times and with two different programs created on the teach pendant, and the results are the same.
Using updated kinematics definitely improves robot positioning accuracy, but it is still imperfect. I realize some of the error is due to discrepancy between the station model geometry and actual as-built geometry, but I am wondering if there is a problem with the calculated DH parameters. Some of the values seem ridiculously large. I attached an image of the modified DH table.
My questions:
Is the offset appearance of the end effector normal behavior when using updated kinematics?
Is there some way to verify the accuracy of the calculated DH parameters?
I am running RoboDK v.4.0.0 13188-Release date 2019-09-27
UR software (PolyScope) 3.5.1.10661 (Dec 13 2017)
The Robot Parameters screen tells me that default kinematics will give a 36.489mm numerical error relative to the updated kinematics.
If I align my end effector with the robot J6 flange using default kinematics, and then enable updated kinematics, the end effector in my RoboDK station appears to be offset approx. 22mm in the +X direction and rotated approx. -12 degrees about the Z-axis.
I have tried re-running the updated kinematics procedure several times and with two different programs created on the teach pendant, and the results are the same.
Using updated kinematics definitely improves robot positioning accuracy, but it is still imperfect. I realize some of the error is due to discrepancy between the station model geometry and actual as-built geometry, but I am wondering if there is a problem with the calculated DH parameters. Some of the values seem ridiculously large. I attached an image of the modified DH table.
My questions:
Is the offset appearance of the end effector normal behavior when using updated kinematics?
Is there some way to verify the accuracy of the calculated DH parameters?
I am running RoboDK v.4.0.0 13188-Release date 2019-09-27
UR software (PolyScope) 3.5.1.10661 (Dec 13 2017)