lr101095 Posted April 17, 2018 Share Posted April 17, 2018 I was comparing the joint angles and joint limits in the simulation and the real robot. I dont think the correct joint angles have been integrated in the simulation. I understand that there may be some variance in the real robot, but i just wanted to make sure i wasn't observing something incorrect. I am trying to run a program, that was written for the real robot, in simulation. It works as expected with the real robot. But there are several discrepancies that i am coming across when running the simulation. One concern is that the joint limits do no match those of the real robot. Because of this, the robot in simulation isn't in the correct pose. For example, in simulation, joint 6 (wrist) has a range of -3.14 to 3.14. The real sawyer has a range of -4.714 to 4.709 in the same joint. I'm not sure if that has anything to do the simulation failing to run the program as expected, but I feel it may because the lack in "flexibility" in the robot in simulation isn't allowing the required pose to be achieved. In the program i'm trying to run, a joint angle of 3.373 is required in the joint 6. Consequently, due to the range provided in the simulation, the required pose in not achieved. it is worth noting that i've only observed this difference in range in joint 6, and i haven't, as of yet, checked to see if there are discrepancies in the other joints. If anyone has any advice regarding how to resolve this, or if there is an upcoming update that resolves this issue, please let me know. Link to comment Share on other sites More sharing options...
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