Universal Robots Forum

Mechanism of UR trend to take shortest target waypoint rather than avoid to hit joint limit

i use UR10
UR software version:3.3.4.310(Dec 06 2016)
s/n:2016303598

if current robot base TCP pose is
x=-349.43mm
y=132.91mm
z=348.32mm

[RPY degree]
rx=179.75
ry=2.92
rz=-83.84

if target rz in RPY degree is 91.716.others pose remain,then wrist3 would turn clockwise to target rz pose

alternate current robot base TCP pose is
x=-349.43mm
y=132.91mm
z=348.32mm

[RPY degree]
rx=179.75
ry=2.92
rz=-98.33

now,the target rz in RPY degree remain 91.716,then wrist3 would turn in anti-clockwise until hit joint limit.

How to avoid this issue?

It sounds like your issue is the same as the problem described here:

There are some suggested workarounds there you can take a look at.

I have a look now,thank