Hello, is there a way to get a determimed rotation direction if I want to turn the TCP about 180° degree. Code could look like this: ptcp = get_actual_tcp_pose() movel(pose_trans(ptcp,p[0,0,0,0,0,d2r(180)]),rAcc,rVel,r=0) Sometimes the robot turns left, sometimes the robot turns right. Is ther…

would roughly look like this: config = get_actual_joint_positions() config[5] = config[5] + 6.28 # + or - depending on direction # number in bracket depends on joint number movej(config, a, v, t, r) # replace a,v,r,t with your values NOTE: You should make sure that the joint limits are not exce…

Determined turning direction when moving TCP around 180°

Technical Questions

aapostolidis June 11, 2018, 11:30am 8

I did a short test to show the difference between Pose and Joint Positions: Pics attached

Calculation of values
poseJointPos

Values
poseJointPos2

Regards,
Alexander

Movej runs into joint limit

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Determined turning direction when moving TCP around 180°

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