[help request] Staubli robot

[eduardsik]

Dear Vincente,
May I ask for your help, to fix our robot Staubli XT60 in the bartlett robot repo? I put it in the xml and 3d file, but it is falling apart.
Here is the dropbox folder: https://www.dropbox.com/sh/4zxnwty97zgniyu/AAByzYfS1AUnCoC9EWcQlaEAa?dl=0

Thank you in advance.

[vinceHuyghe]

Hi Eduard, The values in your XML file are not correct. This is why when you move the robot it comes apart. If you look at the data sheet for your robot and update the a and d values in the xml it should fix the problem. (you can look at the datasheet for other staubli robots already in the library to see what dimension goes where) Hope that helps. Best, Vincent

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On Sun, 27 Sep 2020 at 20:45, Eduard Sik ***@***.***> wrote: Dear Vincente, May I ask for your help, to fix our robot Staubli XT60 in the bartlett robot repo? I put it in the xml and 3d file, but it is falling apart. Here is the dropbox folder: https://www.dropbox.com/sh/4zxnwty97zgniyu/AAByzYfS1AUnCoC9EWcQlaEAa?dl=0 Thank you in advance. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#41>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABPPKROLMBXNX7MSLW2VWUTSH6I5HANCNFSM4R3XVOTQ> .

[eduardsik]

Hello Vincent,

Thank you for the suggestion. I thought the problem is in the 3d model. I took the dimensions based on the other staublis. But I'll check again. I would like some help on the meaning of a and d.

[eduardsik]

Solved

[vinceHuyghe]

Hi Eduard, The A and D values refer to DH parameters. https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters Best, V

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On Tue, 29 Sep 2020 at 13:56, Eduard Sik ***@***.***> wrote: Hello Vincent, Thank you for the suggestion. I thought the problem is in the 3d model. I took the dimensions based on the other staublis. But I'll check again. I would like some help on the meaning of a and d. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#41 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABPPKRK7OALVK4XNPBQFU43SIHKP3ANCNFSM4R3XVOTQ> .