04-13-2021, 08:50 AM
Hello all,
I have two questions. First, we calibrated our Comau Roboter with a Laser tracker. For our Siemens Sinumerik controller, we need the values in the DH-Matrix form. In RoboDK we get the modified DH-Matrix. In the Robot Parameters I can also see the DH and the DHM. Does a table exist for the conversion, where the calculation is done automatically. Or how does the conversion from the DHM to the DH matrix looks like?
Can I set that the calibrated data are output directly in the DH matrix form?
The second question is, in which roboter position is the DHM Matrix recorded?
Is it in the hook or candle position?
I hope you can help me.
Thank you for your help
MarcoH
I have two questions. First, we calibrated our Comau Roboter with a Laser tracker. For our Siemens Sinumerik controller, we need the values in the DH-Matrix form. In RoboDK we get the modified DH-Matrix. In the Robot Parameters I can also see the DH and the DHM. Does a table exist for the conversion, where the calculation is done automatically. Or how does the conversion from the DHM to the DH matrix looks like?
Can I set that the calibrated data are output directly in the DH matrix form?
The second question is, in which roboter position is the DHM Matrix recorded?
Is it in the hook or candle position?
I hope you can help me.
Thank you for your help
MarcoH