Hi, For technical reasons I have limited joint range on axis 6 to ±270deg. The robot is send to destination pose locations sent via a script from a host system. Now I have the problem that the robot controller chooses a solution for axis 6 which is outside (in my case it is apparently sent to -290…

Well, you need to take care of that yourself. You can hint the inverse kinematic solver where it should look for solution with qnear parameter. get_inverse_kin(x, qnear, maxPositionError=1e-10, maxOrientationError=1e-10) Inverse kinematics Inverse kinematic transformation (tool space -> joint spa…

Look at this topic: [image] Determined turning direction when moving TCP around 180° Technical Questions I did a short test to show the difference between Pose and Joint Positions: Pics attached Calculation of values [poseJointPos] Values [poseJointPos2] Regards, Al…

Hi thanks for the tip. The thing with qnear ist that if a given value in qnear is anywhere close to a joint limit it may happen that get_inverse_kin() returns a position which is outside the valid joint range… is it just me who believes this behaviour is not … well… ideal …? Other robot systems hav…

Movej runs into joint limit

Technical Questions URScript

aapostolidis June 12, 2018, 5:45am 3

Look at this topic:

regards,
Alexander

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Movej runs into joint limit

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