We have made analysis of a robot. This robot when analysed for dh-parameters gives us this dh parameter.
When we compute it in matlab we get and we chose the angles (10,20,30,40,50,60) we get this this location for the end effector
Space (563.8789, 139.4271, -34.4136)
rotation (100.5512, -29.5365, -178.1881)
However when we compute in roboDK (a robot visualisation program) we get these values.
[ space (563.878946, -139.427072, -34.413571)
rotation (-100.551161, -29.536461, 178.188057) ]
We are wondering what small mistake did we make since the absolute values are all the same.
When the joints are taken to 0 all across we get in matlab :
space (785.0000, 0.0000, 435.0000)
rotation (108.4349, 90.0000, 108.4349)
in our robodk we get
[ space (785.000000, 0.000000, 435.000000) rotation (0.000000, 90.000000, 0.000000) ]
Now everything is correct except the x and z rotation. We are clueless as to how we can be so close and yet so far away.
We assume it might be a combination of minuses we have to change but we haven't been able to find it. We hope someone here can find our mistake.
Incase its needed datasheet to the robot: http://www.wtech.com.tw/public/download/manual/kuka/KUKA%20KR%206%2010_AGILUS.pdf