Hi
I have the following question:
Lets assume that my kawasaki robot is standing still, and that the 6th axis is rotated 10 degrees at the current position. I now want to perform a joint-movement to another point, and at this point, the resulting rotation of the 6th axis should be -260 degrees. Is it possible to force the robot to rotate the 6th axis -270 degrees without using a via point? I guess that the robot will instead turn the 6th axis to +100 degrees, since this is a shorter turn. The correct rotation could of course be set by specifying the joint angles, but I only have access to the (x,y,z,o,a,t) values of the two coordinates.
I have looked in the manual, and I have read about the LEFTY,RIGHTY,UWRIST,DWRIST,ABOVE,BELOW commands, but I dont think that they can be used to solve my problem.
To put it shortly: I want a way to resolve the ambiguity in the rotation of the 6th axis. Is this possible?
Thanks in advance!