Why does axis4 of real IRB6650 turn?

wooa3

Hi, Everyone

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?

Melk

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.

 

Melk38317,8079861111

wooa3

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.

Melk

Ur welcome, and there is no need to say sorry