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We have made analysis of a robot. This robot when analysed for dh-parameters gives us this dh parameter.

DH-parameter for our robot.

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.

Our frames we have here. enter image description here

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.

here are the rotations: enter image description here

Incase its needed datasheet to the robot: http://www.wtech.com.tw/public/download/manual/kuka/KUKA%20KR%206%2010_AGILUS.pdf

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