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Robot kinematic

Valued Contributor
Valued Contributor

Hello!

I want to create a kuka robot with custom limits. But i don't understand how can i create a secondary joints.

 

In first screen - the web-site robot (only 6 joints is visiable). in second screen - my robot with all joints

Снимок1.PNG

Снимок1.PNGСнимок2.PNG.

3 REPLIES

Re: Robot kinematic

Siemens Phenom Siemens Phenom
Siemens Phenom

Hi,

what do you mean by "secondary joints"?

Joints that depend on others?

This is set in "Joint Dependency" ->5th buttons in Kinematics-Editor.

 

Re: Robot kinematic

Valued Contributor
Valued Contributor
Thanks for help. My problem is that I was asking the wrong joint axis line. Now everything is OK.

Re: Robot kinematic

Creator
Creator

Hello,

I would like to ask you,if you can help me with robot kinematics with balancer? I did kinematics with crank, but I couldn´t set a limit axis, because limit of axis in kinematics was smaller than real limit.  When I did simply kinematics so balancer isn´t move...