Hello KUKA experts,
I have started another thread here with calculating forward kinematics and I used KUKA KR 500-2 robot as an example.
During the discussion, I started to wonder what position of the robot corresponds to all joint variable angles set to zero.
For example, please a look at the extract from the datasheet given in the attachment. Axis A1 and axis A3 have mutual angle of 90°.
When the robot is given exactly like in the datasheet, does it mean that position in which is drawn corresponds to all zero angles?
For example, if all angle A2 is 30° and all other are zeros, does it mean that actual angle between z axis of A1 (first joint - its z axis corresponds to the base z axis) and the axis that goes through the flange is 120°?
This is important to me, so I can calculate forward kinematics correctly.
Thank you!