Page Comparison

...

1. Download the build supporting 3P3R robot from robotmaster website. The build number is: Robotmaster_V6.1.4058.
2. Set Robx file:
   1. The robot architecture type in Robx file must be set to "DECOUPLED_3P3R".
   2. Set DH chart. 
      1. The first three links are set basing on the wrist centre position as all the joint value are in zero;
      2. 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.
   3. Add the joints holding part to <tempVariables>.  For example, if second joint of robot holds part, it would be set as: 
      
3. Set Simulation XML file.
   1. Set the joint holding part to part chain.

...