I’m trying to build a custom 4DOF robot, but I’m running into issues when defining the second joint. I’m using ‘ArticulatedKinematics2’, and the rotation of the second joint ‘J2’ looks correct, but the TCP movement isn’t ideal. Compared to a 6DOF robot, the J2 rotation axis of a 4DOF robot is parallel to J1. However, for the TCP, it behaves like the J2 of a 6DOF robot—the rotation axis is perpendicular to J1. Can anyone help me figure out the cause and fix this? I’d really appreciate it.
The situation in the picture shows the position of the TCP after J2 rotates -13°, which is obviously off from the model.
