Good day!
I'm having issues moving a robot via RSI 3.2/KRC 4 to a specific position.
At the moment I'm moving the robot via relative motion, using one of the examples in the RSI manual (i.e. passing the AK 1-6 joint axis values via XML). This is controlled by software I've written in C#, and this works as expected -- we can move the robot without issue with a connected gamepad.
I've written an A to B movement system on top of that, which is a simple system that works out distance and then slices that by the RSI update rate -- also ensuring that the joint angle sent is below the joint maximum speed. This works fine, until the robot reaches it's destination: the problem is I've noticed the robot needs to decelerate, and thus over-shoots. I know is likely something the path planning will need to take into consideration...
...but is there a better way? I've not managed to find much documentation on RSI absolute mode, so not sure if that'd be better? Is there a way to send doubles via RSI for joint positions, and use them as variables in KRL, such as a PTP command? Or am I missing something incredibly simple?!
Thanks for reading this; happy to supply any details if I've missed anything important