Kinematics... again:/

andypugh wrote: It clearly starts with the angles at 0,0,0,0. And if you look at the model they are x,0,90,90.

If you fix that then it might work properly.

Hello Andy,
I'm progressing, I have corrected the angles .. I still do not work well the simulation as it should be, do you have any more idea that I can look at?
Thank you
Chimeno

The angles still do not look right to me. Just before switching to world mode the arm is showing 0,0,-90, 90. But the sections are all 100% in line, so the angles can not be right.

andypugh wrote: The angles still do not look right to me. Just before switching to world mode the arm is showing 0,0,-90, 90. But the sections are all 100% in line, so the angles can not be right.

Hello Andy,
Now I know how the angles issue works, now if I'm still perfect, the next problem that I find is that when I go to world mode joint 1 and 2 are reversed, I've been looking for a solution but I can not find it, you know the cause or where can I look ?, thanks
Chimeno

Well, the position it goes to is a valid solution to the inverse kins.
So that looks like something that needs to be addressed in the kinematics file (it should always prefer an elbow-up orientation, I suppose).

Could you post ur kinematic file and DH parameter here, we might help you easier

thang wrote: Could you post ur kinematic file and DH parameter here, we might help you easier

hi thang,

sorry, you are absolutely right, publish the first files in a previous post but not updated, I attach the documents, thank you very much
Chimeno


thanks Andy.