How can I calculate the tool (x and y) of a Staubli ts2-40 4-axis robot? (No 6 axes calculation)

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    I know that the official Staubli procedure only works for the 6-axis but I haven't found anything for the 4-axis. Can you let me know if you have any applications or even just mathematical calculations?
There are many formulations around but they all refer to the 6 axes.

Thanks.

    Hello Samu1995,

    The tools for TS are calculated with the same function as TX. Obvously, you can't use the special application to learn it (no wrist).

    If you have the mechanical definition of the tool, you need to give the transformation (Father to Tool).

    Remember that the calcul is in this order : (X,Y,Z) then RX, then RY, then RZ.

    If your tool is not good, you can find the value with 2 points on the same target, the second with a rotation around J4=180°.

    Have a nice day,

    thanks for the answer, yes exactly the value of the tool is not good . I know it but there are some taper imperfections so I have to make him learn it. Do you happen to have a calculator application that you can share with me?

    The solution is depending to the tool directions. Often the mechanical interface is wrong.

    I don't have standard program for this.

    For exemple, you can realise 2 measurements on feeler (turning arround joint 4); looking for the minimal value, turn 180° on joint 4, and report the 1/2 value with the sin and cos on X and Y value's tool.

    Easier is to create a tool (tCorr) inside your tool. Put the RZ value with the joint 4 value (position 1). In this case the 1/2 value is to put directly on X or Y value's tCorr.

    Other solution is to learn 2 positions on the same point. The difference give you the correction values.

    Have a nice Week end...

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