[Rau]

Hello,

I am new to robot programming and have the following problem if i check for collision with MoveJ_Test.


First i get my Robot and Frame:

Code:

    Robots = RDK.ItemList(filter = ITEM_TYPE_ROBOT)
    Robot = Robots[3]
    FRAME = Robot.getLink(ITEM_TYPE_FRAME)
    TOOL = Robot.getLink(ITEM_TYPE_TOOL)

After that i want to check for collision:

Code:

TargetPose = KUKA_2_Pose([x, y, z, rx, ry, rz])
target = RDK.AddTarget(TargetName,FRAME, Robot)
 target.setAsCartesianTarget()
 target.setPose(TargetPose)
                   
                   
 start_point = Robot.Joints()
 target_point = target.Pose()
 collision = Robot.MoveJ_Test(start_point,target_point, minstep_deg = -1)       
                   

The problem is in RoboDk the robot moves like in the picture and not to the actual target_point



If i select the target manually in RoboDK after the position is right.



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