6-axes roboarm (D) in SceneViewer but missing from mappMotion — how to use it?

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Hi Community,

I’m on Automation Studio 6 with mappMotion. In SceneViewer I can see a robot mechanical system “6-axes roboarm (D)” whose geometry is exactly what I need for my application (a 6-axis robot with a non-spherical/offset wrist).

However, this (D) variant does not appear as a selectable mechanical system in mappMotion when configuring the axes group.

Can anyone tell me:

  1. Is the “6-axes roboarm (D)” mechanism available to be used in Automation Studio 6?
  2. If yes, how can I use it in mappMotion?
  3. If it’s not available, what do you recommend for modeling a non-spherical wrist robot?

Thanks in advance!

Regards,
Florent

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Hi Florent,

Your observation is correct - while the “6-axes roboarm (D)” model is present in Scene Viewer, it is not supported as a selectable mechanical system in mappMotion.

This specific mechanical variant was added to Scene Viewer primarily during internal research. It was never fully integrated into mappMotion’s standard kinematics library due to the complex nature of non-spherical wrist kinematics. There is (what I know) not known analytical solution.

If you attempt to DIY it using a custom mechanical system, you would need to build a numerical solver for the inverse kinematics as well as the Jacobian matrix - neither of which is trivial to compute stably in real time.

Regards
Vaclav

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Hi Vaclav,

Thank you very much for the clarification and the quick answer, that makes perfect sense. And indeed, to my knowledge there is no analytical solution for this type of non-spherical wrist kinematics.

Actually, I have already built a solver for this kind of robot on my side. My main motivation for looking at the “6-axes roboarm (D)” model was to benchmark my implementation against something probably more robust, so I’m glad to have the confirmation on its status.

I’ll now look into integrating my own solver and Jacobian into a custom mechanical system.

Thanks again for your help!

Regards,
Florent