I'm using iiwa14 and have a problem. I'd like to move the robot from x,y = A(0, -500) to B(500, 0). When I ran SmartServoLIN and tried to move the robot's tool center point from point A to B, the robot stopped during the operation because the robot entered the area it couldn't reach (the value of axis 4 was nearly the limitation at that time). I thought the SmartServoLIN could handle this simple path planning (just avoiding the area it can't reach), but it didn't and it just crashed. Of course, I can manually set the waypoint, but I don't want to hardcode the waypoint.
Is there any way to avoid this issue and to move the robot from A to B safely? The attached file describes the situation.