Hi, I'm working with krc4, i built a project and every thing is perfect. But when i download the project to other similar robot
and after i taught the bases for the new robot . when i start simulating the program i got an error( i couldn't reach to the points that i copied from the first robot) because of status and turn.
The robots are the same and are for the same purpose, so how can overcome this issue?
I don't want to teach the points again,
KRC4(#KR150R2700 EXTRA C4 FLR) status and turn
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bayeh6 -
July 3, 2014 at 5:32 AM -
Thread is marked as Resolved.
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Probably you do not have the same setup for both robots. For status and turn related issues I would diff R1/$machine.dat and System/$config.dat of both robots using a diff tool of your own choosing. I personally use kdiff3 (http://kdiff3.sourceforge.net/) for jobs like these. $machine.dat shows the kinematic setup of the robot including how they are mounted in $world. $config.dat has info on tools and bases.
Fubini
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Or, he could just remove Status and Turn from the E6POS variable in the .dat file and the robot will sort out the rest itself
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any other solutions. To omit the S and T for each point , i've so many points it'll take time
thanks
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One small trick you can _SOMETIMES_ use when you have problems with status/turn is to change the motion to a linear, run there and touchup, then change it to ptp, as status and turn are only considered in constant path movements.
Also, if you approach a singularity during the linear motion you will probably get an unwanted movement with much reorientation of the wrist axes during the ptp motion.