Hi, i faced another Bug when creating API generated Waypoints with a TCP Offset of Z = 400 mm: when i create a Waypoint with this Pose through the Polyscope UI: [grafik] everything is fine: [grafik] but if i use the same Pose for a API generated Waypoint i get an Error that the Inverse kine…

any Help? i could not be the only one having this issue :confused:

So i spent some time elaborating on this Error again and found some changes in the procedure how waypoints are generated through the API in the Ellipse example using the MovePConfigBuilder Interface inside the configureMoveNode() function and thought it should solve the Issue by using this method b…

same Problem on version 5.4.0 with sdk 1.6.1

It seems like to me that the API points always calculate to a point with the TCP set as Flange during calculation and then after sets the TCP, but basically fails before that due to that the flange would not be able to reach that position. If you would try to reach that point with the TCP as toolfl…

i’m actually waiting for the API 1.7.0 release to test it again. As there is no option to re-assign waypoints with another TCP through the API i can’t think of a suitable workaround. teaching the waypoints with a 0,0,0,rx,ry,rz tcp would be an option but messes up any program that uses a MoveL or …

I would like to suggest a possible workaround for this bug. Please report back if this is able to mitigate this issue. When inserting a waypoint, you are either capturing the data from the RobotPositionCallback, or the RTDE. Either way, you are getting: Pose (including TCP) and the JointPositions…

Hi jacob, thank you for your answer on this. we’re still struggling with this bug. I tried to append your guide to the html ellipse urcap example using SDK 1.7.0 and URSim 5.4.0. which basically inserts the waypoints in the mentioned steps. First i tried to use moveNode.getTCPSelectionFactory().c…

@m.birkholz Many thanks for the feedback, that the workaround was successful. I would recommend using an already configured TCP in the list of TCP’s. But guess it depends on the application and usage. If the URCap is provided for a system, which includes the end-effector (i.e. a wleding system, w…

we will create a custom tcp installation node with pre-defined immutable tcp’s depending on the welding equipment and an option to create a user-defined one. Thanks again :slight_smile:

API generated Waypoints lack in Range of TCP Offset

Technical Questions

m.birkholz November 29, 2018, 6:38am 2

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API generated Waypoints lack in Range of TCP Offset

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