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+--- Thread: Incorrect generation of program robot for a UR3 and Matlab (/Thread-Incorrect-generation-of-program-robot-for-a-UR3-and-Matlab)
Incorrect generation of program robot for a UR3 and Matlab-Consuelo-12-13-2020
Hi! I am trying to generate a program for a UR3 having a second frame (the first is the robot base) but the script generated does not considere the second frame for the coordinates.
The file generated (having the robot base as frame) is something like
...
# Main program:
# Program generated by RoboDK v5.1.3 for UR3e
# Using nominal kinematics.
# set_reference(p[0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000])
movej([0.857440, -2.431977, -0.887516, -2.116927, 1.291165, 2.534724],accel_radss,speed_rads,0,0)
movel(p[0.100000, 0.110000, 0.050000, 0.000003, -2.722227, 1.047786],accel_mss,speed_ms,0,0.000)
# End of main program
end
....
And the file generated (having the second frame as reference)
...
# Main program:
# Program generated by RoboDK v5.1.3 for UR3e
# Using nominal kinematics.
# set_reference(p[0.300000, 0.100000, 0.100000, 0.000000, 0.000000, 0.000000])
movej([0.857440, -2.431977, -0.887516, -2.116927, 1.291165, 2.534724],accel_radss,speed_rads,0,0)
movel(p[0.100000, 0.110000, 0.050000, 0.000003, -2.722227, 1.047786],accel_mss,speed_ms,0,0.000)
# End of main program
....
which is basically the same target for the MOVEL instruction
I cannot find my mistake
I really appreciate your help... thanks
RE: Incorrect generation of program robot for a UR3 and Matlab-Consuelo-12-13-2020
Also, I would like to know how to solve the error below after loading the url file to correct kinematics
Python脚本失败返回1
Traceback ...
File...
dh_mat = Mat([dh_alpha, etc
NameError: name 'Mat' is not defined
thanks
RE: Incorrect generation of program robot for a UR3 and Matlab-Jeremy-12-14-2020
嗨Consuelo,
Can you update RoboDK and try again.
If it doesn't work, use this post-processors.
//m.sinclairbody.com/doc/en/Post-Processors.html#PostProcessor
Jeremy