The issue is regarding simulation of Kuka robot KR16L6-2 in MATLAB using Robotics toolkit by Peter Corke. I wish to simulate the kinematic before passing a command to real robot for motion.
I have attached the DH-Parameters. Apart from this I have also tried many other combination of orientations but to no useful effect.
The problems is that the robot base rotates counter-clockwise by default for positive increases in
Joint1, while the original robot moves in the opposite direction. Similarly for the wrist roll, i.e. Joint 4, the direction of simulation is reversed.
In order to confirm that it's not my mistake only, I searched for similar ready made simulation software. Although it did not include the same KUKA robot, a similar variant (KUKA_KR_5_sixx_R650) was available. Hence, KUKA_KR_5_sixx_R650 had one set of motions for base and wrist in RoKiSim v1.7 for positive increases in joint angle and reverse motion in roboanalyzerv7 .
NOTE: Only the rotation of J1 (base) and J4 (Wrist Roll) are reversed and I want to recreate the results of RoKiSim v1.7 in Matlab where rotations are similar to the real world robot spec provided by KUKA.