I couldn't solve it, sorry, but thank you for your advices
Posts by Fkr
-
-
MOM , did you use decoupling? Or did you multiply all the matrices A01*...*A56 and then use A01^-1*T = A12*...*A56 to get the angles? and thanks for your advices
-
It was the result:
-
Well, I finally used the decoupling method and the robot end link is positioned near the desired point, there is a 5cm error, to me is a bad result
I used this model to get the angles q1, q2 and q3, and to get the angles from q4 to q6 I used the whole robot
-
Sorry guys, it's my original robot, it has a step where I have a problem with denavit-hartenberg's parameters, you can see the joint parameters, called from q1 to q6, at that point are the real actuators, but the coordinate system of those parameters is not always on these actuatos, I found those coordinate systems with the denavit-hartenberg's algoritm.
-
Hello, I am trying to solve kuka robot inverse kinematics with kinematic decoupling method, but when I tried to get DH parameters I couldn't get the parameters, I am at a dead end so if someone help me I will be very grateful.