The target point is unreachable

中文提问(Quesitons in Chinese)
1

请问如何判断目标点不可达？
how to know the target point unreachable?

2

Can you explain further what exactly you are trying to achieve?

If you want to determine weather a robot target is reachable by the robot you will need to do an inverse-kinematics calculation.

3

I control robot using port 30003, write C++ using urscript, like this
tcpclient->write(“movej[q1,q2,…q6]\n”);
I want to know whether the target point is reachable before I send the target point to robot.
Beside I write a IK program to judge the target point is reachable, if I can use script like is_within_safety_limits(pose) ,get_inverse_kin_has_solution to judge? Can I get the return value in PC via port 30003?
Thanks!

4

Hi,

I think it is better to use RTDE to receive the output of get_inverse_kin_has_solution().
https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/