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Robot Kinematics in Process Simulate/ Robcad

Creator
Creator

Hi All,

 

Im trying to create Robot kinematics. I have created the basic rotary joint kinematics and I am wondering how to create the dependency/ relation between J2 and J3.!? 

 

Could anyone please help me using the attached data sheet.!

 

Thanks,

Venkatesh

4 REPLIES

Re: Robot Kinematics in Process Simulate/ Robcad

Siemens Phenom Siemens Phenom
Siemens Phenom
Just continue drawing the next joint, starting from the moving link of J1 to the next link.
For 6 axis robot you will have 7 links and 6 joints in the end. All connected in a kinematic chain.
To allow your robot inverse movement add base and tool frame to it.
If you then test your robot and it doesn't move properly with robot jog, you probably made a mistake with your joint vectors.

Re: Robot Kinematics in Process Simulate/ Robcad

Creator
Creator
HI

Thank you GuidoDamm .yes i have done kinematics for Robot as you explained above ,this work only for if Robot J2 and J3 are independent joints.But in my case Robot has relation between joint 2 and joint 3.if i jog joint2 and joint3 values also will get changed.so i am looking for how to find relation between joint 2 and joint 3 for this Robot.

Re: Robot Kinematics in Process Simulate/ Robcad

Siemens Phenom Siemens Phenom
Siemens Phenom

What kind of dependancy?

Looks like a standard 6 axes robot.

 

What brand is it? Did you check if it's available already on GTAC server?

Re: Robot Kinematics in Process Simulate/ Robcad

Creator
Creator

yes it is 6 axes Denso Robot.Denso Robot librarynot available in GTAC server