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DH parameters joint1 offset

ted_morell
ted_morell ✭
in RobotStudio S4
Hi,

The DH parameters can be found thanks to the method GetDenavitHartenbergParameters of Mechanism Class.
However, the kinematic base frame is different from the base frame of the robot.
Do you know if I can find the transformation between the robot base Frame and the kinematic base frame in "ABB.Robotics.RobotStudio.Stations Namespace" ?

For example, I am working with IRB2600ID_8_200__01.rslib
I have in PIM.xml the KinematicBaseFrames tranlated from 445mm on Z of base frame
Is there a method in "ABB.Robotics.RobotStudio.Stations Namespace" to find this transformation ?

-<KinematicBaseFrames>
-<Element>
-<RowX>
<X Value="1"/>
<Y Value="0"/>
<Z Value="0"/>
<W Value="0"/>
</RowX>
-<RowY>
<X Value="0"/>
<Y Value="1"/>
<Z Value="0"/>
<W Value="0"/>
</RowY>
-<RowZ>
<X Value="0"/>
<Y Value="0"/>
<Z Value="1"/>
<W Value="0"/>
</RowZ>
-<RowT>
<X Value="0"/>
<Y Value="0"/>
<Z Value="0.445"/>
<W Value="1"/>
</RowT>
</Element>
</KinematicBaseFrames>

Best Regards

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