Angle offset

These are needed to match the zero position of the internal robot model in the kinematic transformation with the physical zero position of the real robot. In the examples given below, the articulated axis positions are 0 in each case.

List parameters

Meaning

kinematik[45].param[13]

Rotary offset for zero position of robot joint axis 2

kinematik[45].param[14]

Rotary offset for zero position of robot joint axis 3

Example for param[13]=0 degrees, param[14]=0 degrees
Example for param[13]=0 degrees, param[14]=0 degrees
Example for param[13]=-90 degrees, param[14]=90 degrees
Example for param[13]=-90 degrees, param[14]=90 degrees