Robot Mechanism Parameters

Correct mechanism parameters are crucial for accurate Cartesian movements.

The following steps provide you with an example on how to fill in the mech-parameter.xml file.:

Required: Basic parameters

• Enables you to move the robot in cartesian space.

1. Remove the mechanism parameters from the control.xml file. Perform the steps in: How to remove parameters from the control.xml.

2. Use the example: Dobot-CR5 On how to fill in the mech-parameter.xml for your robot type.

3. The Dobot-CR5 makes use of the Anthropomorphic2 IK solver type. Replace the IK solver type that matches your robot constrains.

4. The available tip-pose input fields differ for each IK solver type, and you must work within the constraints of these specific fields for every segment. Checkout an example for Anthropomorphic2.

   Note

   The tip-pose (only position) is relative to previous segment tip-pose.

5. Per IK solver type there is a predefined axis rotation, this needs to be adhered and cannot be changed. Checkout an example for Anthropomorphic2.

Now your mech-parameter.xml file should look like the following example: basic mech-parameters.xml.

Optional: Advanced parameter

• Enables you to use compliance control and collision detection.

In addition to the basic mech-parameters.xml, the advanced mech-parameters.xml requires mass, center of gravity and inertia parameters per segment.

6. Define the mass in [kg] per segment.

7. Define the center of gravity location of the segment with respect to the tip-pose.

8. Define the moments of inertia around the center of gravity.

   Note

   Add the mass proprties of the output shaft of the gearbox to the link that it is attached to, the rest of the mass of the gearbox and the motor shall be part of the previous link. Make sure masses are not counted double.

Now your mech-parameter.xml file should look like the following example: advanced mech-parameters.xml.

9. Save the mech-parameters.xml file and deploy to the controller.