Robot 6-Axis: Difference between revisions

From FreeCAD Documentation
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The description follows the [http://en.wikipedia.org/wiki/Denavit-Hartenberg_Parameters Denavit-Hartenberg Parameter] system, as also described in John J. Craigs book "Introduction to Robotics".
The description follows the [http://en.wikipedia.org/wiki/Denavit-Hartenberg_Parameters Denavit-Hartenberg Parameter] system, as also described in John J. Craigs book "Introduction to Robotics".


=== Example Kuka ===
== Example Kuka ==


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==== Kinematic ====
=== Kinematic ===


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| 6 || q6 || -158 || 0 || 180 || -350 || 350 || 615
| 6 || q6 || -158 || 0 || 180 || -350 || 350 || 615
|}
|}

=== Visual representation ===

Revision as of 07:54, 20 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

The Kuka KR-16


Kinematic

3D applications
Segment Parameter Description
Base konfiguration

Failed to parse (syntax error): {\displaystyle \alpha_{1} = −90} °

Segment 1

°

°

Segment 2

°

Segment 3

°

Segment 4

°

Segment 5

°

Segment 6

This leads to following table:

Kinematik table
1 q1 675 mm 260 mm -90°
2 q2 - 90° 0 mm 680 mm
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°.


Kinematik table
1 q1 675 mm 260 mm -90°
2 q2 0 mm 680 mm
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°

In the Data sheet we find additional information about the Axis:

That leads to this complete Table:

Kinematik table
Axis Speed
1 0 575 260 -90 -185 185 156
2 0 0 680 0 -155 35 156
3 - 90 0 0 90 -130 154 156
4 0 -670 0 -90 -350 350 330
5 0 0 0 90 -130 130 330
6 q6 -158 0 180 -350 350 615

Visual representation