Robotics: Kinematics are homed via the real axes

Question:
Which axes of a kinematic configuration must be homed - the Cartesian or the real axes?

Answer:

The real axes are used to home the robot kinematics and create the refererence to the mechanics.

In robotic applications, several axes are usually connected to each other via kinematics (mechanics). Via the kinematics, the movement of the real axes (controllers and motors A1, A2, A3,...) results in a movement of the Cartesian axes (X, Y, Z,...). Real and Cartesian axes are converted via the transformation.

When the real axes have been homed, for the Cartesian axes, the reference to the mechanics is automatically created as well via the transformation.

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AKB-ID: 201600134
Last update: 2024/01/11
Category: FAQ, Tips and Tricks

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