Joint angle limit setting of Franka robot model

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anteto
Posts: 10
Joined: 24 May 2021, 08:00

Joint angle limit setting of Franka robot model

Post by anteto »

hello,
When I set the angle limit for the joints of Franka robot model, I found that the default limit was inconsistent with the limit given on Franka's official website.
The first picture is the limit given by Franka's official website, and the second and third pictures are the default angle limit of Franka robot model joints 2 and 4.
When I changed the angle limit of each joint, I found that it would have a great impact on the simulation results. I don't know why. Can you help me explain the setting principle of joint angle limit of robot model in coppeliasim?
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cheers!
thanks!

fferri
Posts: 1193
Joined: 09 Sep 2013, 19:28

Re: Joint angle limit setting of Franka robot model

Post by fferri »

What problem did you encounter when changing joint limits?

Robot manufacturer usually gives you a picture of the robot arm in the "home position", which can be all joint angles set to zero, or something else as specified in the data sheet. So first of all you need to make sure that if you set the robot to the home position in the simulator, you get the same pose, otherwise you need to adjust the joint offsets (by rotating the joints around their Z axis).

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