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Newbie Question

Creator
Creator

Hello all

 

   Developed kinematics for ABB IRB 1200. To verify the output I have tried joint jog and compared the joint vales with robot studio ( ABB simulation software ). PFA for the comparison. 1 & 2 seems fine, there is a slight difference in 3 but 4,5,6 is completely different. why it's behaving like this? am I missing something to configure?  

 

  Thanks in advance...

 

Regards,

Suganth

1 REPLY

Re: Newbie Question

Siemens Phenom Siemens Phenom
Siemens Phenom

For a same TCP position, you can have up to 8 joint solutions. From your screenshot, it looks like you are not working with the same solution in both software.

 

If you move j4 and j6 by 180 degrees and move J5 to its opposite initial value, then you will get back to the initial TCP position.