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torayeff / fanucpy

Python Interface for FANUC robots
Apache License 2.0
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The DH parameters and Joint limits. #25

Open madinwei opened 1 year ago

madinwei commented 1 year ago

Hello, @torayeff ^_^,

I want to get The DH parameters and the joint limits of the robot arm I am controlling with Fanucpy. so is there a specific function in Karel or the TP language, that I can call it from my code and retrieve the DH parameters and Joint limits?

and Since I am using Roboguide, I can use any arm version, if there is any way to get any arm DH parameters and Joint limits. I just use that specific arm.

torayeff commented 1 year ago

@madinwei unfortunately it is not supported by fanucpy at this point.

torayeff commented 1 year ago

@madinwei alternatively you can write your own Karel/Python to modify the system variables as shown in the below lines: https://github.com/torayeff/fanucpy/blob/8dbb91850cd5ffe6b1d320953f21a9b159f9d96f/src/fanucpy/Robot.py#L290 https://github.com/torayeff/fanucpy/blob/8dbb91850cd5ffe6b1d320953f21a9b159f9d96f/src/fanuc-driver/mappdk_cmd.kl#L558

and modify kinematics as discussed here: https://robodk.com/doc/en/Robots-Fanuc-Updating-controller-kinematic-parameters.html