Hello everybody,
I'm working on a robot mounted on a linear unit for the first time and, as usual, have a very short time for finding a solution.
Everything is calibrated and it seems to work as the manuals says, I've studied all I could for finding a way to solve the redundancy of the 7th axis, but I'm in a cul-de-sac.
I have to program offline the points for the trajectories, because the piece I have to work on are always different for one another, or are placed in random positions on the base area.
Short story, the robot have to perform a "saw edge" trajectory (sorry, but I'm not English and I find difficult to describe it, something like /|/|/|/|/| ) on a marble slab for distributing resin on it.
What I'm trying to get is to keep the distance of the tcp fixed from the robot base while maximizing the use fo the 7th axis while moving: this is because I had problems with speed and acceleration if the robot is too much compressed, but I don't know if it's a good idea.
The coordinate involved in the 7th axis management is the Y:
- do I have to find a way to calulate both the position of the TCP respect to the robot base and E1? Isn't there any way to link them automatically? Did you face the same problem before and can share an idea?
- if I'm not wrong, the $WORLD coordinate system is placed on the root point (zero) of the linear unit, so using $ROBROOT_C and $BASE I can find the position of the linear unit in $BASE system. Am i right with this?
Sorry if I was not clear, I don't have the robot with me today and I'm trying to think theoretically, without mentioning that at the half of the linear unit I have to rotate the robot along the Z axis of 180°, or I wouldn't be able to reach all points.....
Thank you