Robot World Frame

    Hi!

    I am trying to understand the relation between the world frame and $ROBROOT. I currently use KUKA.Sim to experiment and have placed the robot on a 400mm high booster frame. To make the world coordinates more intuitive I have moved the Robot World Frame down by 400 mm (the height of the booster frame) so that the robot has positive Z values from the floor up. If I understand this correctly, $ROBROOT should then be moved up by 400mm (in Mada\machine.dat) so that it ends up in the robot base where it should be and not on the floor level where the World Frame is defined. Is this correct or do I misunderstand something? KUKA.Sim will not allow me to change $ROBROOT however, it will immediately change Z back to 0 when starting the simulation. Also, what will happen in practice if $ROBROOT is not moved back to the robot base?

    Thanks!

    If the World-coordinates are shifted, both $WORLD and $ROBROOT will still be at {0 0 0 0 0 0} or $NULLFRAME which to me indicates $ROBROOT is moved along with $WORLD. Unless $WORLD and World-coordinates are not the same (World-coordinates are relative to $WORLD). $ROBROOT is the only one that is possible to change in machine.dat as $WORLD is write protected.

    Edited once, last by robocoder (February 25, 2024 at 10:45 PM).

    Actually the World Coordinate System is fixed by $WORLD = $NULLFRAME (both frames are write protected).

    $ROBROOT defines the frame going from Word Coordinate System to the Robot Coordinate System.

    Therefore the correct relationship would be

    Robot Coordinate System <== World Coordinate System ==> Base Coordinate System

    I do not know too much about KUKA.Sim, but I would guess by just changing the Z-Value from $ROBROOT would be a flying robot. Maybe you would need to set the robot on top of a platform

    just created new program, added P1 as motion with tool 0, base 0 (world) and touched it up when robot was at home.


    then run program and it just zips through since all points are same...


    then modified $ROBROOT by adding 900mm to Z (just for fun). the nice thing is one can do this change without reboot:

    then i run the same program again. this time P1 is not the same as home since P1 is tied to world that is sunk by 900mm.

    home position is the "cannon" since axis specific, but the added motion to P1 moved robot down, as if robot was on 900mm pedestal

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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