Why does axis4 of real IRB6650 turn?
In Robotstudio, axis 4 of IRB6650 does not turn. See my capture file. axis4.zip
But in my real robot jogging, turnning of axis 4 always occur.
Why does the simmulation in RS differs from real robot action?
Hmm, how strange...
Axis 4 (of the real robot) turns because the robot encounters singularity (when axis 4 & 6 are aligned). That situation gives pretty unpredictable results.
To solve this problem (and if the robot has enough space to move) you want to try to use the robot coordinate system (Joint motion) instead of Lineair motion.
But the fact remains: The virtual controller is claimed to be an exact copy of the real robot controller, so they both should function in the same way.
My guess is that either (somehow) the virtual controller handles singularity issues slightly better,
or the difference is caused by the unpredictability of singularity situations.<@Logan> I spent a minute looking at my own code by accident.
<Beeth> And your point is?
<@Logan> I was thinking "What the hell is this guy doing?"0
Thank you for your quick reply.
I have done some mistake.
Real robot and virtual robot move in the same way.
Axis4 of virtual robot also turns at singularity.
I am sorry.Sungwoo Jung0
- 10.4K All Categories
- 5.3K RobotStudio
- 346 UpFeed
- 15 Tutorials
- 8 RobotApps
- 281 PowerPacs
- 404 RobotStudio S4
- 1.7K Developer Tools
- 238 ScreenMaker
- 2.6K Robot Controller
- 246 IRC5
- 36 OmniCore
- 6 RCS (Realistic Controller Simulation)
- 3 RobotStudio AR Viewer
- 691 RAPID Programming
- 14 Wizard Easy Programming
- 101 Collaborative Robots
- 3 Job listings