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HALRobotics / Beta

HAL Robotics Framework beta release and associated documentation.
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Incorrect A1/A4/A6 orientations for KUKA arms ? #41

Closed lionpeloux closed 6 years ago

lionpeloux commented 6 years ago

Hi,

HAL 1.2.6 beta Rhino 6 SR8 VMWare Fusion 10.1.0

I think the orientation of A1, A4 and A6 axis for KUKA arms in your catalog should be "flipped" to match kuka's convention of signs. I've checked several (eg. KR1000 titan) of your robot definitions and they are all the same. See images below.

Also, wouldn't it be more consistent to have the "axis zero positions" aligned (up or down) for A4 and A6 (see image 2) ?

capture d ecran 2018-09-12 a 12 05 20 capture d ecran 2018-09-12 a 12 20 53 capture d ecran 2018-09-12 a 12 21 07
sebandraos commented 6 years ago

Good catch on the robots, I will get as many of these corrected today as possible. With regards to the alignment of the axes 4 and 6 however, that is a decision we have made to avoid permanently starting in a singularity.

lionpeloux commented 6 years ago

Ok, I wasn't aware of this singularity trick.

sebandraos commented 6 years ago

Our entire KUKA catalogue should now be up to date. Please feel free to reopen this issue if there are still issues