12-30-2019, 08:39 PM
太好了。它看起来像运动学is imported successfully.
You see a warning message because the real controller kinematics deviates a lot from the norminal kinematics (36 mm, this is why you see the message "Warning something does not look right"). This will mostly impact the location of the robot flange, not matching the 3D model. However, the forward/inverse kinematics will match the robot controller's forward/inverse kinematics (same numbers you see on the teach pendant).
If you locate the UR_LoadControllerKinematics.py script (available in C:/RoboDK/Scripts) you'll see that this warning is automatically triggered when the real kinematics deviates more than 20 mm with respect to the nominal kinematics. You can change this tolerance if you need.
You see a warning message because the real controller kinematics deviates a lot from the norminal kinematics (36 mm, this is why you see the message "Warning something does not look right"). This will mostly impact the location of the robot flange, not matching the 3D model. However, the forward/inverse kinematics will match the robot controller's forward/inverse kinematics (same numbers you see on the teach pendant).
If you locate the UR_LoadControllerKinematics.py script (available in C:/RoboDK/Scripts) you'll see that this warning is automatically triggered when the real kinematics deviates more than 20 mm with respect to the nominal kinematics. You can change this tolerance if you need.