Hello.
My task uses the UR 3e robot. According to the program, the robot starts from the “Home” point, makes 4 turns of the wrist 3 and returns home (to the “Home” point). When the program is completed, the robot rotates 4 turns of wrist 3 in the opposite direction. How to make wrist 3 0 degrees without turning back. This cycle repeats itself constantly. I want the robot to make 4 revolutions according to the program, return home, then make 4 revolutions again - return home, and so on. So that he does not unscrew 4 turns in the opposite direction.
Thank you!
I found a solution
revolution_counter(qNear=[0.0, 0.0, 0.0, 0.0, 0.0,0.0])