Robot Arm not move in World mode
28 May 2019 20:33 #135192
by andypugh
I don't know if incorrect DH parameters can cause the calculation to fail. I can imagine that it might if the DG params are set up such that the effector position is not in a position that a robot described by your parameters could reach.
Unfortunately there are at least two definitions of the DH params, and I am not sure you you tell which one any particular description is describing.
I have observed that some descriptions use "a" for the arm length and some use "d" and I think that that might correlate to which version is being used.
The Wikiepdia page describes both formats. Genserkins uses "Modified DH parameters"
Replied by andypugh on topic Robot Arm not move in World mode
i have updated to 2.8
after Homing my Axes it shows an error "KinematicsInverse failed".
I think my D-H Parameters are wrong or?
I don't know if incorrect DH parameters can cause the calculation to fail. I can imagine that it might if the DG params are set up such that the effector position is not in a position that a robot described by your parameters could reach.
Unfortunately there are at least two definitions of the DH params, and I am not sure you you tell which one any particular description is describing.
I have observed that some descriptions use "a" for the arm length and some use "d" and I think that that might correlate to which version is being used.
The Wikiepdia page describes both formats. Genserkins uses "Modified DH parameters"
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