Hi guys, I downloaded a station from RoboDK online library: Milling with Autonox Robotics articc6-2257-30kg (AT_00006) | Station Library (robodk.com) I found the interesting thing is that, angle A will jump from 179 to -179 (it happens to angle C at some circumstances) at some specific points along the tool path. To observe it, we need to set the Euler angles mode as (ABB/KUKA/Nachi) and set the position of the reference frame as zero point.
You can also check it in the following video. In the video, when the simulation steps reached step 10003, the angle was -179.991, and at step 10004, it was 179.999.
Our current solution is to detect these jumps and then correct them by adding 360° or -360° depending on the case. However, this could lead to the value of the angle larger than 360° or smaller than -360°, which does not apply to the controller.
Do you guys have better ideas to solve the out-of-range problem or correct this phenomenon? Thanks again for the great help.
You can also check it in the following video. In the video, when the simulation steps reached step 10003, the angle was -179.991, and at step 10004, it was 179.999.
Our current solution is to detect these jumps and then correct them by adding 360° or -360° depending on the case. However, this could lead to the value of the angle larger than 360° or smaller than -360°, which does not apply to the controller.
Do you guys have better ideas to solve the out-of-range problem or correct this phenomenon? Thanks again for the great help.
