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+--- Thread: Zero position for - 6 axes industrial robot (/Thread-Zero-position-for-6-axes-industrial-robot)
Zero position for - 6 axes industrial robot-yolomike-03-14-2023
Hello,
I'm using the mechanism wizard to model a custom 6dof robot. Luckily, my kinematics are represented by the "6 axes industrial robot" inside the mechanism wizard.
However, my [0 ,0, 0, 0, 0, 0] is a straight, candle-like robot configuration. But inside the wizard, a3=0 is represented by a 90° angle.
My question: How can I define that the resulting robot mechanism from the wizard is already tilted by 90°? Basically, I need a redefinition of the robot joint for a3=0.
Best,
Mike
RE: Zero position for - 6 axes industrial robot-Alex-03-14-2023
adding -90 on θ₃ should do the trick
I rotated it on an ABB as an example. (I rotated the geometries first)
RE: Zero position for - 6 axes industrial robot-yolomike-03-15-2023
“另外ng -90 on θ₃ should do the trick"
It worked as you said! Thank you!