Working with a KRC2ed05, with a KR200-3 comp arm.
I used roboDK's calibration program + laser tracker to create a kinematics DH table:
How can I update the machine data to match this?
some qualifiers:
I have a backup HDD.
I can use the robodk filter and avoid this, but I'd prefer to correct the kinematics at the source, if it's possible.
The closest I've gotten is this thread: kinematic parameter stored inside robot, and acceleration and torque signal channel before and after gear reduction but I don't know exactly how the variables are mapped.
It's easy enough to assume my value of "a'" for Joint 3 (45.091445mm) would replace the even 45mm below in my $TX3P3, both negative. Past those few obvious ones, is there a standard or diagram that shows which values are which? I understand D-H kinematics at a fifth grade level, but these two DH values are missing a theta value anyway. I'm hoping I can at least correct the lengths and take out 80% of my position error.
FRAME $TIRORO={X 0.0,Y 0.0,Z 750.0,A 0.0,B 0.0,C 0.0}
FRAME $TFLWP={X 0.0,Y 0.0,Z 210.0,A 0.0,B 0.0,C 0.0}
FRAME $TX3P3={X 1000.0,Y 0.0,Z -45.0,A 0.0,B 90.0,C 0.0}
REAL $LENGTH_A=350.0 ;GRUNDACHSLAENGE A
REAL $LENGTH_B=1050.0 ;GRUNDACHSLAENGE B
DECL DHART $DH_4={DHART_A 0.0,DHART_D 0.0,DHART_ALPHA 90.0}
DECL DHART $DH_5={DHART_A 0.0,DHART_D 0.0,DHART_ALPHA -90.0}