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Robot Studio and Denavit Hartenberg parameters

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NikolasTheissen
NikolasTheissen ✭
in RobotStudio
Hej Hej,
My name is Nikolas and I am researcher at KTH in Stockholm, Sweden. I work with measurements to identify kinematic, static, thermal and dynamic model parameters. This task usually requires the calculation of the observavility, correlaction and sensitivty of model parameters, which in turn requires knowledge of the Denavit Hartenberg or modified Denavit Hartenberg parameters. Can you please tell me how one can easiest export this information from robot studio?

Thank you in advance!

Cheers Niko

Comments

  • DenisFR
    DenisFR ✭✭✭
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    Hello,
    For my RSDrawGraphics, I found DH parameters in Robot Mechanism library.
    You can find it on C:\Program Files (x86)\ABB Industrial IT\Robotics IT\RobotStudio 6.07\ABB Library\Robots folder.
    Open rslib file as zip archive.
    On PIM.xml file in section: PIMDocument - Objects - ForwardKinematicsDH - JointInfos, you can get DHParameters for each axes.
    I have to make some modifications as they are for graphical view, and place mechanism elements.
    Like if you set axis 3 as UCS, your can see that the origin is not on motor axis even if rotation axis in on it.

    Maybe someone knows a better way to get them.

  • jstoquica
    jstoquica ✭
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    Hi,

    Can I modify the DH parameters from that file and use a "new" station in Robotstudio?

    Regards. 
  • ted_morell
    ted_morell ✭
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    Hi,

    The DH parameters can be found thanks to the method GetDenavitHartenbergParameters of Mechanism Class.
    However, the kinematic frame of the joint 1 is different from the base frame of the robot.
    Do you know where I can find the translation between robot base Frame and joint1 kinematic frame ?

    Regards

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