RSI to correct kinematics of a robot

    Hi,


    Does anyone have any working examples of using RSI to correct kinematics, using rdk calibration I have the correct dh kinematic measurements of the robot and would like to be able to have the robot do the corrections without having to filter the program itself.


    KSS 8.6.7 RSI4. 1, kr3, Kr6, KR240


    Thanks


    Colin

    Would the kinematic model need to run on an external processor, ie RSI feeds position to control, and external processor calculates new positions based on the correct measured kinematics and feeds corrections to RSI?


    Or is it possible to have RSI do all these calculations internally based on the measured kinematic model?

    It could perhaps be done in RSI, but would require building all the math into an RSI container. I don't think RSI is the best environment for trying to program heavy math operations.


    Regardless, RSI can only apply corrections in Cartesian or Axis, so wherever your kinematic model resides, it must be translated into joint angles or Cartesian coordinates before being fed to the xxxCORR objects.


    RSI also needs to be programmed as a series of PID algorithms. RSI motion control acts on a displacement/time model, so the input to any xxxCORR object is applied every 12ms (4ms for IPO-Fast mode). So it is up to your algorithm to, in realtime, examine the difference between the actual position and the desired position and scale the difference for input into the xxxCORR objects, tapering down to 0 as that delta is reduced.

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