[Martin_Necas]

Hello,

We are trying to program an AUBO i10 robot. We created a simple program of basically 4 points. In the simulation everything looks great and usable. But when run on the robot controller the robot kinematics configuration changes between  the last two points /alternates between different inv. kinematics solutions/.

Pls. see the picture (Sorry, the picture is not from AUBO pendant, we recreated it in RoboDK!).

Can you maybe share the AUBO post-processor with us so we can look at it how its done and maybe fix the problem? 

Thanks a lot,
Martin

[Albert]

Once you establish the configuration with a joint movement to a joint target, you can maintain the same configuration by making a linear movement.

Did you use Joint movements to joint targets?
Can you share your RoboDK project file?