Robot 6-Axis: Difference between revisions
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| 3 || q3 || 0 mm || 0 mm || 90° |
| 3 || q3 || 0 mm || 0 mm || 90° |
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| 4 || q4 || -670 mm || 0 mm || -90° |
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| 5 || q5 || 0 mm || 0 mm || 90° |
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| 6 || q6 || -158 mm || 0 mm || 180° |
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Since the Kuka robots do not have all Axis to 0 in the drawn L-Position, we have to change |
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Axis 2 & 3 by 90°. |
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{| class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1" |
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|+ '''Kinematik table''' |
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! <math>i</math> !! <math>\theta</math> !! <math>d</math> !! <math>a</math> !! <math>\alpha</math> |
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| 1 || q1 || 575 mm || 260 mm || -90° |
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| 2 || q2 || 0 mm || 680 mm || 0° |
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| 3 || q3 - 90° || 0 mm || 0 mm || 90° |
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| 4 || q4 || -670 mm || 0 mm || -90° |
| 4 || q4 || -670 mm || 0 mm || -90° |
Revision as of 22:28, 19 September 2009
This Article is about bringing a Standard 6-Axis industry robot into FreeCAD for simulation
The description follows the Denavit-Hartenberg Parameter system, as also described in John J. Craigs book "Introduction to Robotics".
Example Kuka
Kinematic
This leads to following table:
1 | q1 | 575 mm | 260 mm | -90° |
2 | q2 - 90° | 0 mm | 680 mm | 0° |
3 | q3 | 0 mm | 0 mm | 90° |
4 | q4 | -670 mm | 0 mm | -90° |
5 | q5 | 0 mm | 0 mm | 90° |
6 | q6 | -158 mm | 0 mm | 180° |
Since the Kuka robots do not have all Axis to 0 in the drawn L-Position, we have to change Axis 2 & 3 by 90°.
1 | q1 | 575 mm | 260 mm | -90° |
2 | q2 | 0 mm | 680 mm | 0° |
3 | q3 - 90° | 0 mm | 0 mm | 90° |
4 | q4 | -670 mm | 0 mm | -90° |
5 | q5 | 0 mm | 0 mm | 90° |
6 | q6 | -158 mm | 0 mm | 180° |