Kinematics offsets

# Robot: 6-axis articulated robot based on the example of KR210 R2700-2

# ----------------------------------------------------------

# Offset from G3 to rotation sym. axis in beam arm -115 mm

# X offset from the origin to the rotation point G2 330 mm

# Z offset from the origin to the rotation point G2 645 mm

# Top arm length 2 1150 mm

# Bottom arm length G3 to G5 1120 mm

# Distance G5 to G6 215 mm

#

kinematik[45].param [0] 500000 Effector offset: Z

kinematik[45].param [1] 2500000 X

kinematik[45].param [2] 0 Y

kinematik[45].param [3] 0 Effector rotation: X''

kinematik[45].param [4] 900000 Y'

kinematik[45].param [5] 0 Z

kinematik[45].param [6] 6450000 Z offset from G1 to G2

kinematik[45].param [7] 11500000 Z offset from G2 to G3

kinematik[45].param [8] 12200000 X offset from G3 to G5

kinematik[45].param [9] 2150000 X offset from G5 to G6

kinematik[45].param [10] 3300000 X offset from G1 to G2

kinematik[45].param [11] -1150000 Z offset from G3 to G5

kinematik[45].param [13] 0 Angle offset zero position G2

kinematik[45].param [14] 0 Angle offset zero position G3

kinematik[45].param [20] 1 Rotation direction G1 negative

kinematik[45].param [21] 0 Rotation direction G2 negative

kinematik[45].param [22] 0 Rotation direction G3 negative

kinematik[45].param [23] 1 Rotation direction G4 negative

kinematik[45].param [24] 0 Rotation direction G5 negative

kinematik[45].param [25] 1 Rotation direction G6 negative

kinematik[45].param [30] 0 Old orientation of flange coordinate system

kinematik[45].param [31] 0 Y offset from G4 to G1