the robot kinematic model

Hi,friends,
I want to know the robot kinematics model in the RobotStudio,would anybody know?I have searched some,but have no results.There are DH model and M-DH model and I open the RobotStudio ,I find that the 5 and 6 axis are different from the other axis,the other four axis are based on the base of the robot,and the 5 and 6 axis are based on the other base.

 

Could somebody have some results or give some papers for the model?Thank you!

Comments

  • Henrik Berlin
    Henrik Berlin Sweden ✭✭✭

    Are you looking for the DH-parameters for any robot in particular? RobotStudio uses modified DH-parameters according to Craig's definition. See below for the M-DH parameters for the IRB120:

    [code]

              <DHParameters>
                <Element>
                  <NextJoint Value="1"/>
                  <Link Value="1"/>
                  <Twist Value="0"/>
                  <Length Value="0"/>
                  <Rotation Value="0"/>
                  <Offset Value="0"/>
                </Element>
              </DHParameters>
            </Element>
            <Element>
              <IsRevoluteJoint Value="true"/>
              <DHParameters>
                <Element>
                  <NextJoint Value="2"/>
                  <Link Value="2"/>
                  <Twist Value="1.5707963267949"/>
                  <Length Value="0"/>
                  <Rotation Value="1.5707963267949"/>
                  <Offset Value="0"/>
                </Element>
              </DHParameters>
            </Element>
            <Element>
              <IsRevoluteJoint Value="true"/>
              <DHParameters>
                <Element>
                  <NextJoint Value="3"/>
                  <Link Value="3"/>
                  <Twist Value="0"/>
                  <Length Value="270"/>
                  <Rotation Value="0"/>
                  <Offset Value="0"/>
                </Element>
              </DHParameters>
            </Element>
            <Element>
              <IsRevoluteJoint Value="true"/>
              <DHParameters>
                <Element>
                  <NextJoint Value="4"/>
                  <Link Value="4"/>
                  <Twist Value="-1.5707963267949"/>
                  <Length Value="70"/>
                  <Rotation Value="0"/>
                  <Offset Value="302"/>
                </Element>
              </DHParameters>
            </Element>
            <Element>
              <IsRevoluteJoint Value="true"/>
              <DHParameters>
                <Element>
                  <NextJoint Value="5"/>
                  <Link Value="5"/>
                  <Twist Value="1.5707963267949"/>
                  <Length Value="0"/>
                  <Rotation Value="-3.14159265358979"/>
                  <Offset Value="0"/>
                </Element>
              </DHParameters>
            </Element>
            <Element>
              <IsRevoluteJoint Value="true"/>
              <DHParameters>
                <Element>
                  <NextJoint Value="-1"/>
                  <Link Value="6"/>
                  <Twist Value="1.5707963267949"/>
                  <Length Value="0"/>
                  <Rotation Value="0"/>
                  <Offset Value="0"/>
                </Element>
              </DHParameters>
            </Element>
          </JointInfos>
    [/code]
    Henrik Berlin
    ABB
  • apox
    apox Germany ✭✭
    Hi,

    is it possible to access these DH values via the API?

    Thenak you

  • Henrik Berlin
    Henrik Berlin Sweden ✭✭✭

    These parameters cannot be accessed through the API.

    Henrik Berlin
    ABB
  • Hi

    Does anyone know how can get DH parameters of ABB IRB 120 ?
    I really need that to calculate kinematics
    thnks
  • Henrik Berlin
    Henrik Berlin Sweden ✭✭✭


    You can find them in the piece of XML above ^
    Henrik Berlin
    ABB
  • Hi Henrik,

    We're a research lab with the following ABB robots:
    IRB-2600-12
    IRB 140 
    IRB 2400/10

    Would you mind sending over the modified DH parameters for these robots, or directing me towards a place where I could access the parameters?

    Thanks!
    Mike

  • Found the value for ABB IRB 2600 Robot
    Hope this helps.
    Robot Motion Range
    Axis 1 A?180A?
    Axis 2 +155A?, -95A?
    Axis 3 +75A?, -180A?
    Axis 4 A?400A?
    Axis 5 A?120A?
    Axis 6 A?400A?
    Applications

    N/A

    Robot Controllers


    Robot Motion Speed
    Axis 1 175 A?/s (3.05 rad/s)
    Axis 2 175 A?/s (3.05 rad/s)
    Axis 3 175 A?/s (3.05 rad/s)
    Axis 4 360 A?/s (6.28 rad/s)
    Axis 5 360 A?/s (6.28 rad/s)
    Axis 6 360 A?/s (6.28 rad/s)

  • SAQUIB
    SAQUIB MUMBAI
    Can any body send me DH parameter of IRB2600
  • SAQUIB
    SAQUIB MUMBAI
    PLEAS PROVIDE DH PARAMETER FOR IRB 2600.. AND IF HAVE INVERSE KINEMATICS EQ MATRIX   
  • SAQUIB
    SAQUIB MUMBAI
    anybody knows any Software tool to simulate the robotic path trajectory with DH parameter.
  • Hello SAQUIB,
    did you get the DH parameter for the IRB2600 and the IK  eqs?
  • Hello,
    I do not find that specific Path in my RobotStudio to get the DH parameter for the IRB 2600 ? Can someone help me here, please?