YuMi doesn’t have a functionality to use Pose mode on EGM (EGMRunPose), but only Joint mode. Are there any ways to control Yumi’s arm in cartesian position without blocking during the command? When I say ‘blocking’, it means the operation of the application stop until the robot gets to the destination, as we could observe MoveL function on other robots.
If EGMRunPose isn’t available on YuMi, I guess only the way to give the similar power would be to use MoveL or MoveJ and other instructions at the same time.
- e.g. To get the real-time streaming position data, use CRobT in parallel.
- e.g. To change the direction in the mid of MoveL, send small movement of MoveL continuously or use StopMove to interrupt if it needs the path correction.
Do you think it’s possible? If anyone faced the same issue, please let me know how you could solve it.