Hello everbody, i am writing a urcap to generate waypoints using RDTE and createFixedPositionConfig method. Made some tests without a tcp in the simulation and everthing is working fine. Now i wanted to test everthing on a robot. There i was a bit puzzled sometimes the robot decides to sort its joi…

It seems like @Ebbe is referring to this workaround from 2019 : API generated Waypoints lack in Range of TCP Offset - #8 by jbm Apparently, there is a quite long-lived bug in the way API generated waypoints have their inverse kinematics solution calculated. It only seems to happen when the relevant…

Joints differ from RTDE values

Technical Questions

ka1 September 20, 2022, 11:35am 10

I was a bit unclear there, sorry.

I meant to refer only to the last post in the thread by m.birkholz, where he describes how to recreate a bug in the inverse kinematics calculation for API generated waypoints.

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Joints differ from RTDE values

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