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visose / Robots

Create and simulate ABB, KUKA, UR, and Staubli robot programs.
MIT License
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[help request] Staubli robot #41

Closed eduardsik closed 4 years ago

eduardsik commented 4 years ago

Dear Vincente, May I ask for your help, to fix our robot Staubli XT60 in the bartlett robot repo? I put it in the xml and 3d file, but it is falling apart. Here is the dropbox folder: https://www.dropbox.com/sh/4zxnwty97zgniyu/AAByzYfS1AUnCoC9EWcQlaEAa?dl=0

Thank you in advance.

vinceHuyghe commented 4 years ago

Hi Eduard,

The values in your XML file are not correct. This is why when you move the robot it comes apart. If you look at the data sheet for your robot and update the a and d values in the xml it should fix the problem. (you can look at the datasheet for other staubli robots already in the library to see what dimension goes where) Hope that helps.

Best, Vincent

On Sun, 27 Sep 2020 at 20:45, Eduard Sik notifications@github.com wrote:

Dear Vincente, May I ask for your help, to fix our robot Staubli XT60 in the bartlett robot repo? I put it in the xml and 3d file, but it is falling apart. Here is the dropbox folder: https://www.dropbox.com/sh/4zxnwty97zgniyu/AAByzYfS1AUnCoC9EWcQlaEAa?dl=0

Thank you in advance.

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eduardsik commented 4 years ago

Hello Vincent,

Thank you for the suggestion. I thought the problem is in the 3d model. I took the dimensions based on the other staublis. But I'll check again. I would like some help on the meaning of a and d.

eduardsik commented 4 years ago

Solved

vinceHuyghe commented 4 years ago

Hi Eduard,

The A and D values refer to DH parameters. https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters

Best, V

On Tue, 29 Sep 2020 at 13:56, Eduard Sik notifications@github.com wrote:

Hello Vincent,

Thank you for the suggestion. I thought the problem is in the 3d model. I took the dimensions based on the other staublis. But I'll check again. I would like some help on the meaning of a and d.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/visose/Robots/issues/41#issuecomment-700683799, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABPPKRK7OALVK4XNPBQFU43SIHKP3ANCNFSM4R3XVOTQ .