[Jeff Xiang]

Hi all,

I have met a problem when executing a program in RoboDK, where there are only two kind of commands: MoveJ, MoveL. I have a series of goal points, and I have defined in the program, each point should be driven by using MoveJ or MoveL. Everything works fine until the last point: The robot always makes a big turn and then drives to the last point, although the last point is so close to the point before it. Is there any idea about why the motion is planned in this way, and how can I solve this? In Attachment you can find my rdk program. Thanks a lot in advance!

Best regards,
Jeff

[Albert]

A quick workaround is to change the joint movements to linear movements.

However, it looks like you are using a custom integration to generate the path. I would recommend you to properly calculate the joints based on the closest previous solution. You can find an example here:
https://robodk.com/doc/en/PythonAPI/exam...easibility

[Jeff Xiang]

Hi Albert,

thanks for the advice, I have tried with SolveIK with given "lastjoints", and it works well!

One last question regarding a point in the example you given: Please see the screenshot of the code snippet in the example given. I can understand that, if a linear move is possible, I can set the target as a cartesian target; otherwise a joint target. But what I don't get is that, in the case that a linear move is possible, the code snippet used

Code:

newtarget.setJoints(newtarget_joints)

then

Code:

newtarget.setPose(newtarget_pose)

As far as I understand, setJoints is not necessary in this case right? I need only setPose in this case. I have tried to remove setPose, keep setJoints, and the code simply does not work.
For the case a linear move is not possible, it's the exactly other way around. So I don't really know why in the example it was written in that way...