Hello dear forum members,
I have the following Kuka challenge, which I couldn't get solved yet:
I am moving to a point, and at that point I want to rotate my tool by ca. 200°, but with a certain rotation direction (counter-clockwise). After that, I want to move the tool up a bit and rotate it back, but in the other direction (clockwise).
Now the robot seems to think: "hey, rotation by 200°? That is 360°-200°=160°, let's rotate the other way around, it's shorter anyway!" However, if this happens, a cable will get cut.
I looked in the expert manual and in the forum, but couldn't find anything on how to enforce a certain rotation direction. Currently, I am rotating the tool in 4 steps by 50° each, making sure that in the last position the A6 axis is in >200°, so it must rotate back (otherwise the axis A6 would be > 360° rotated, which is not possible due to axis limits).
$ori_type=#joint; (Note: I get the same results with #var)
lin_rel {A 50} C_ORI #TOOL
lin_rel {A 50} C_ORI #TOOL
lin_rel {A 50} C_ORI #TOOL
lin_rel {A 50} C_ORI #TOOL
Needless to say, I am not at all satisfied with this approach, since I have some positions, where I cannot be sure that A6 > 200° after rotation, so the axis will go backward and the cable will be cut.
I would really appreciate it if anybody has a suggestion. Thank you very much!