I have absolute accuracy robots and I need to calculate forward kinematics by myself because we are using our software for building trajectories. Robot has parameters like error_offset_z, error_roll, etc. for each link.
But I don’t know coordinate systems for robot links. I get DH modified parameters from RobotStudio PIM.xml for building coordinate systems. I draw CS for 4 links and understand that errors not in these coordinate systems.
I also tried to use equal CS (z - up, x - forward) for all links but it also is wrong.
Can you help me to understand which coordinate systems are used for each link correction: rob1_1, …, rob1_6?
I’m working on the same problem. I’m wondering if you ever made any progress on this? I’ve reached out to ABB customer support and have yet to hear back. I’ll probably update this if/when I hear back from them.
I did take a look to the DH parameters using J. Craig method, but I can’t figure a clear way to apply the offsets to that parameters. Somebody has some experience with this ?
Hallo, so far as I know, the absoulte accuracy parameters are added at the controller, when moving linear or joint (not abs). AbsAcc is used to compensate the difference between the ideal robot model to the real mechanical arm, which might be different on every robot. So when planning in RSO you use always the ideal model and it is no use of calculating AbsAcc in advance (?)