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How to limit tool coordinates in collision-free motion planner?

Hi, Jeremy

As the simulation progressed, I found another problem.

Since the robot's axis coordinate range is very large, the collision-free planner is based on the Joint axis jog. The following variable will appear, this is naturally not allowed in reality.

Now i want the laser head to always be perpendicular to the horizontal plane, which means that the rotation of the tool coordinate system is restricted. 

In your video, how to limit the Joint axis jog is introduced, my question is how can i limit the tool frame? or how to make this function based on the tool coordinate system?

waiting for ur answer.


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