Articulated kinematics value is not changing for 6DoF robot

Component Modeling
1

I am currently trying to make a model of an articulated robot. To create 6DoF robot I am using UR3e Universal robot as refference. I am using Visual Components Premium 4.1. While creating the model from model behavior there is no ArticulatedKinematics option but there is PythonKinematics option. If I import ArticulatedKinematics from upper Behaviour tool it creates ArticulatedKinematics2 option in new robot model Behavior tree but if I change the value of ArticulatedKinematics2 nothing happens in the main model. Regarding this how to change the articulatedKinematics value in the main model? Thank you.

2

Hi,

Adding AKin2 behavior doesn’t do anything by itself because link offsets in node tree aren’t referring to the kinematic lengths inside AKin2. I would suggest to use some different robot as template that uses AKin2. For example ABB IRB 120 is such a robot.

The reason why UR uses python kinematics is that its kinematic chain is fundamentally different from typical industrial robot. UR has 4th axis parallel to axes 2 and 3 whereas typically 4th is perpendicular to axis 3. Therefore UR cannot be modeled using AKin2.

-k

3

Thanks a ton for your valuable advice. It worked.