I just received a new KR 300 R2700-2. I am seeing some unexpected errors (several mm) in the position of the flange compared to what I calculate by hand and my simulation software (robodk) also reports.
Calculated flange position: [1565.28, 161.99, 924.27]
Flange position from robot pendant UI: [1564.23, 161.96, 921.70]
Below are the DH modified parameters I am using for my calculations. These numbers are based on information from the Quantec manual and also match up with variables $ROBROOT, $TIRORO, $TX3P3, $TFLWP, $DH_4, $DH_5, $LENGTH_A and $LENGTH_B from the machine.dat file.
Questions: Is there any on-robot calibration data that would change what parameters the robot uses to calculate forward kinematics? Any other advice where the errors in flange position would be coming from?
Thanks!
Rick
dh = np.array( [
[0, 0, 0, 645],
[-0.5 * pi, 330, 0, 0],
[0, 1150, -0.5 * pi, 0],
[-0.5 * pi, 115, 0, 1220],
[0.5 * pi, 0, 0, 0],
[-0.5 * pi, 0, pi, 240]])