01-07-2020,下午12:55
Hello, I have a KUKA LWR IV+ with a KRC2 that I have modeled using RoboDK. When I perform a MoveJ movement the robot is not moving correctly due to the fact that robodk is sending the joints list as:
[[J1], [J2], [J3], [J4], [J5], [J6], [J7]]
but KUKA has declared the third the axis as external and is waiting for the external value to be at the end like this:
[[J1], [J2], [J4], [J5], [J6], [E1]]
So the robot is moving correctly in the simulation but the real robot does not. Is there a way to change the position of the joints when i model the robot ?
In order for the robot to move correctly i have to manually change the joint values as this:
target = RDK.Item("Target")
joints = tr(target.Joints())
robot.MoveJ([joints[0, 0], joints[0, 1], joints[0, 3], joints[0, 4], joints[0, 5], joints[0, 6], joints[0, 2]])
Then the real robot moves correctly but the robot in simulation does not.
[[J1], [J2], [J3], [J4], [J5], [J6], [J7]]
but KUKA has declared the third the axis as external and is waiting for the external value to be at the end like this:
[[J1], [J2], [J4], [J5], [J6], [E1]]
So the robot is moving correctly in the simulation but the real robot does not. Is there a way to change the position of the joints when i model the robot ?
In order for the robot to move correctly i have to manually change the joint values as this:
target = RDK.Item("Target")
joints = tr(target.Joints())
robot.MoveJ([joints[0, 0], joints[0, 1], joints[0, 3], joints[0, 4], joints[0, 5], joints[0, 6], joints[0, 2]])
Then the real robot moves correctly but the robot in simulation does not.