Hi all,
I am currently trying to wrpa my head around the DH parameters that are present in the PIM.xml for the IRB6400 robot.
When attempting todo forward kinematic calculations with the robot, I am not getting the same values as reported by the flexpendant.
XML Below:
With my understanding, where Link Value = ‘1’, this represents the transofrmation of the base frame to link 1, and then Link Value = ‘2’ represents the transformation parameters from joint 1 to joint 2. Although this raises questions about why there are more than 6 joint values
Please can someone inform me if I am correct?
Best Regards,
Joe