09-25-2022, 09:41 AM
Thank you for such a clear explanation of the issue.
It looks like the KUKA KR 700 PA robot model does not have the correct joint coupling in RoboDK. Can you confirm if the attached model solves the coupling problem?
Did you change any default controller parameters to drive the joints? If not, we'll release a new official robot for this KUKA KR 700 PA robot model.
Also, it looks like the robot has virtual axes 4 and 5 that should be ignored as they are calculated as a function of axes 2 and 3. Does that make sense? If not, it would be great to have a table of joint positions and their corresponding pose values. Or hopefully @Dmitryan help us troubleshoot this issue with the virtual KUKA robot.
Once we fix issues 1 and 2 (hopefully with this new model), issue 3 should be fixed automatically.
If you want to try the driver, you should copy the apikuka.exe file in C:/RoboDK/bin to be able to run it. On the other hand, Dmitry is working on an improved driver that has many new features.
It looks like the KUKA KR 700 PA robot model does not have the correct joint coupling in RoboDK. Can you confirm if the attached model solves the coupling problem?
Did you change any default controller parameters to drive the joints? If not, we'll release a new official robot for this KUKA KR 700 PA robot model.
Also, it looks like the robot has virtual axes 4 and 5 that should be ignored as they are calculated as a function of axes 2 and 3. Does that make sense? If not, it would be great to have a table of joint positions and their corresponding pose values. Or hopefully @Dmitryan help us troubleshoot this issue with the virtual KUKA robot.
Once we fix issues 1 and 2 (hopefully with this new model), issue 3 should be fixed automatically.
If you want to try the driver, you should copy the apikuka.exe file in C:/RoboDK/bin to be able to run it. On the other hand, Dmitry is working on an improved driver that has many new features.