02-23-2023, 03:54 PM
Hi,
I implemented a relative rotation movement (jogging around each x,y,z axis) via Python API. Before each input is actually sent to the robot, I validate the movement via MoveJ_Test. However, for some specific configurations the actual moveJ results in TargetReachError, even though the MoveJ_Test results in 0, which means that the joint move is feasible and free of any other issues. Could it be the case that MoveJ_Test results in valid joint values but still can't be reached? Am I tackling this approach wrongly or doesn't this function include unreachable targets?
My approach:
1) Define the current position in x, y, z, a, b, c with Pose_2_KUKA(tool.PoseWRT(frame))
2) Add the requested jogging values for a, b, c and transform back to pose with KUKA_2_Pose
3) Use robot.Joints() as j1, and SolveIK(newPose) as j2 in MoveJ_Test
4) If valid --> MoveJ
Thank you in advance!
I implemented a relative rotation movement (jogging around each x,y,z axis) via Python API. Before each input is actually sent to the robot, I validate the movement via MoveJ_Test. However, for some specific configurations the actual moveJ results in TargetReachError, even though the MoveJ_Test results in 0, which means that the joint move is feasible and free of any other issues. Could it be the case that MoveJ_Test results in valid joint values but still can't be reached? Am I tackling this approach wrongly or doesn't this function include unreachable targets?
My approach:
1) Define the current position in x, y, z, a, b, c with Pose_2_KUKA(tool.PoseWRT(frame))
2) Add the requested jogging values for a, b, c and transform back to pose with KUKA_2_Pose
3) Use robot.Joints() as j1, and SolveIK(newPose) as j2 in MoveJ_Test
4) If valid --> MoveJ
Thank you in advance!