Hi all,
I am working with a IIWA 7 and am trying to use the workspace monitoring. Essentially, my setup has the robot in the middle, with two work zones on the sides and a narrow "passage" between them. The passage is defined by the closest the robot can get to its base (around 42 cm radius around the base) and the end of the table (60 cm away from the base). In the sides the robot can go as far as it can reach. I wanted to limit this passage so the robot wouldn't go off the table, so I added a workspace monitoring in the safety configuration.
My problem is when commanding the robot to move through this passage. I thought it would plan its motion taking into account the workspace limitation, but it doesn't seem to do that. Currently, if the ptp motion goes out of the workspace, the robot would start it and stop when existing the workspace. Is there a way to make the motion planner take the workspace limitations into account?
Thanks,