I'm new in robotics. My problem is the next one: I have a 6DOF robot manipulator and because the implementation was for real-time application my calculation time had to be really fast so that I used Wrist Center position(Geometrical solution). After using some calibration machine(I don't know much about this machine) I got the real DH parameters of the robot and of course are not the same. I can't use the real DH parameters in my IK cause is no longer valid for the new DH parameters and If I implement a numerical solution I don't know really how much time it will take. So, my questions are :
- Do you know any IK method for this case with no more than 0.5ms for each IK calculation?
- Is there any information about how can compensate the position without change the IK but knowing the real DH information?
- Do you know any other solution to this problem?
Finally, I was reading kinematics calibration. I think I got the idea but in the end is the same problem, you got new DH parameters and How to use those new DH parameters or maybe I understood wrong this information, basically is using this equation: Thanks for help!!!