Author Topic: Is there a way to change the redundant degree of freedom from code?  (Read 263 times)

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Offline zpasztor

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Hello,

I want to hold a given cartesian position, but in the meantime change the redundant degree of freedom.
When the SmartPad is in cartesian mode, there is a button to do this, but I was unable to find a function for it in SmartServo.
Can you guys refer me to a function or solution?

Offline panic mode

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Re: Is there a way to change the redundant degree of freedom from code?
« Reply #1 on: April 12, 2018, 07:08:34 PM »
keep same point and frame data(XYZABC) then just change E1
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
2) if you want reply about robot, post it in forum
3) read 1 and 2

Offline zpasztor

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Re: Is there a way to change the redundant degree of freedom from code?
« Reply #2 on: April 13, 2018, 07:35:52 AM »
keep same point and frame data(XYZABC) then just change E1

THank you.
Could you provide me with a code snipet or exact function name, because as far as I can see with setDestination() I can only change the 6 parameters of the cartesian not E1.

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Re: Is there a way to change the redundant degree of freedom from code?
« Reply #3 on: April 18, 2018, 02:55:59 PM »
Just create couple of points the usual way. Teach them then use them in motions.
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
2) if you want reply about robot, post it in forum
3) read 1 and 2