This page introduces how to set up decoupled-3P3R type robot cell.
Step-by-step guide
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- The first three links are set basing on the wrist centre position as all the joint value are in zero;
- If there is translation joint holding part, the translation direction in DH chart must be reversing with the direction in real robot. For example, if Joint 2 positive direction in real robot is along +Y of world frame, it must be set to -Y in DH chart.
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Two 3P3R robots have been set up and are attached in here:
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