Hello all,
Recently we purchased a kuka KR6-R900 robot, with KRC4 compact and KSS 8.6.6. As the fundament of our further research, we have to find out link length (kinematic parameter) and inertia of links of our robot.
Regarding link length, I believe robot has link length parameter stored somewhere so that it can calculate end effector location (X, Y, Z, A, B, C) without any external sensor. And I believe the stored link length is different from the parameters indicated in KUKA documentation. Could someone please tell me where we can find this kinematic information?
Regarding link inertia, we would like to use inertia identification to identify it ourselves. We need each joint’s commanded and actual value of, displacement, velocity, acceleration and torque, before and after gear reduction. The current problem is we can’t find the actual acceleration channel, and the commanded and actual of joints torque is way different which makes me doubt if I have selected the correct channel.
Command torque channel we use: KRCIpo-GearTor_CmdIpo
Actual torque channel we use: KRCIpo-Actual gear torque
The comparison is shown in the attached figure.
I will really appreciate if someone could share their knowledge of acceleration and torque channel.
thank you for any advice.
(orange line: command torque; blue line: actual torque)