Position Converter - Convert from XYZWPR Rep to Joint Rep and Back

Ah! That explains it. I've only ever worked in the intrinsic context, b/c that's how all the normal robot coding works.

Hi,

Quote from Nation

Yes they are. However, we are both right! Rx - Ry' - Rz'' is equivalent to Rz - Ry - Rx.

probably not

Kuka is using Rz - Ry' - Rx"

in accordance to the quote - it is not the same

For technichians it is the best way always rotate around the new coordinate system (right/(left) hand rule)

I am using the right hand rule with my left hand; so I can use my right hand for the direction of rotation.

Quote from Nation

The math will have slight differences from a conversion done on the Fanuc controller vs a conversion done by this program. Typically the differences are in the order of hundredths to thousandths of a millimeter

yes, agree you are completely off - what's about the angles?

When I made first comparison between the robot reading and my values I was off about the same.

After adjusting (PI, atan_2, etc.) I got almost the same values (off about 0.00001 mm or deg)

There is actually not only one set of DH Parameter (for kuka there are at least 4 sets)

Hi,

Quote from MOM

yes, agree you are completely off - what's about the angles?

Your quote: typically the differences are in the order of hundredths to thousandths of a millimeter

to be honest - could be better

Quote from Nation

Yes they are. However, we are both right! Rx - Ry' - Rz'' is equivalent to Rz - Ry - Rx.

This is correct - but not working for kuka

Kuka is using Rz - Ry' - Rx"

in accordance to the quote - it is not the same

Quote from Nation

We were not discussing the order of rotations a particular robot uses.

This I missed, sorry

I think 1 hundredth of a mm is more than adequate for any industrial robotic application, and I have had to deal with some very demanding applications.

HawkME

I agree, normally distance of better than 0.01 mm is very good. But I also asked about degree.

Althogether Nation did and still doing a very good job.

If anyone had the idea, that I want to blame him - I am very sorry, this was never the case.

He even encouraged me to work more on the robot models (ABB, FANUC, KUKA) in order to get a better understanding of the differences.

regards

MOM

This is a really cool. I understand the overview that you provided, but will need to brush up my linear algebra to understand how the nuts and bolts are actually put together. Thank you for sharing it with us.

Hello,

I just want to know how did you do that freeware? which tool or software did you use? I want to do one application too.

Regards

Hi Nation I am trying to run the program and it is also showing that the program can not find version.dg (I did an all of the above backup of the MD) I tried looking for the file on the robot itself and I don't seem to be able to find the file there either. Is there a way for me to bypass this step and enter the values manually?

I’m in the process of learning the kinematics. It looks like you wrote this in c#. Would you be willing to share source code so I could use it to help me understand the process?